（二）代码a.0:天空盒切割盒按键移动视角显示

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2\opencv.hpp> 
#include <opencv2\core\opengl.hpp>
#include <iostream>
#include <Windows.h>
#include <vector>
#include <stdio.h>
#include "conio.h"
#include <opencv2/cudawarping.hpp>
//#include <opencv2/cudaarithm.hpp>
#define __STDC_CONSTANT_MACROS
extern "C"
{
#include "libavcodec/avcodec.h"
#include "libavformat/avformat.h"
#include "libswscale/swscale.h"
#include "libavutil/imgutils.h"
#include "SDL.h"
 //
};

#include <GLTools.h> // OpenGL toolkit
#include <GLMatrixStack.h>
#include <GLFrame.h>
#include <GLFrustum.h>
#include <GLGeometryTransform.h>
#include <StopWatch.h>
#include <math.h>
#include <stdlib.h>
#include <GL/gl.h>
#ifdef __APPLE__
#include <glut/glut.h>
#else
#include <GL/glut.h>
#endif
//
CvCapture * capture = NULL;
char * VideoAddr = "zzz.mp4";
IplImage * frame;
#define ESC 27
#define PAUSE 32
//
GLFrame             viewFrame;
GLFrustum           viewFrustum;
GLBatch             cubeBatch;
GLMatrixStack       modelViewMatrix;
GLMatrixStack       projectionMatrix;
GLGeometryTransform transformPipeline;
GLuint              cubeTexture;
GLint               skyBoxShader;
GLint               locMVPReflect, locMVReflect, locNormalReflect, locInvertedCamera;
GLint    locMVPSkyBox;

//Refresh Event
#define SFM_REFRESH_EVENT  (SDL_USEREVENT + 1)
#define SFM_BREAK_EVENT  (SDL_USEREVENT + 2)
using namespace std;
using namespace cv;
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

Mat warpMat1[6], warpMat2[6], dst[6];
Mat warpMat[6];
cv::cuda::GpuMat src[2], wM1[6], wM2[6];
cv::cuda::Stream src_stream[2];
ogl::Buffer wBuf[6];
DWORD start_time, start_time_1, end_time;
LARGE_INTEGER nFreq;
LARGE_INTEGER nBeginTime;
LARGE_INTEGER nEndTime;
struct RGB_pic    //存储修改前文件 yuv->RGB
{
 cv::Mat rgbImg;
 int length;
 int height;
} picture_remap;
struct convert_map  //存6个面的数组
{
 cv::Mat face[6];
} cvtmap;

//SDL

SDL_Window *screen;
SDL_Renderer* sdlRenderer;
SDL_Texture* sdlTexture;
SDL_Rect sdlRect;
//Parameters 
SDL_Thread *video_tid;
SDL_Thread *pic[6];

SDL_Event event;
SDL_AudioSpec wanted_spec;
//下面是线程参数
int handle[6] = { 0,1,2,3,4,5 };

//下面是文件参数 需要修改
FILE* pFileIn;
int w = 1920;
int h = 1080;
cv::Mat yuvImg;
int bufLen = w * h * 3 / 2;
unsigned char* pYuvBuf = new unsigned char[bufLen];
Mat dstImg, dst1Img;
unsigned char *pBytes;

template <typename T>            //176-278 不要动  变换
inline T square(const T x)
{
 return x * x;
}
template <typename T>
inline T clamp(const T& x, const T& a, const T& b)
{
 return x < a ? a : x > b ? b : x;
}
enum CubemapFace
{
 CUBEMAP_FACE_BACK,
 CUBEMAP_FACE_LEFT,
 CUBEMAP_FACE_FRONT,
 CUBEMAP_FACE_RIGHT,
 CUBEMAP_FACE_TOP,
 CUBEMAP_FACE_BOTTOM
};
GLenum  cube[6] =
{
 GL_TEXTURE_CUBE_MAP_POSITIVE_X,
 GL_TEXTURE_CUBE_MAP_NEGATIVE_X,
 GL_TEXTURE_CUBE_MAP_POSITIVE_Y,
 GL_TEXTURE_CUBE_MAP_NEGATIVE_Y,
 GL_TEXTURE_CUBE_MAP_POSITIVE_Z,
 GL_TEXTURE_CUBE_MAP_NEGATIVE_Z
};

inline Vec3f cubemapIndexToVec3(const float x, const float y, const CubemapFace face)
{
 // rotate and flip the direction as a function of the face
 Vec3f dir(x, y, 0.5f);
 Vec3f dirOut = dir;
 switch (face) {
 case CUBEMAP_FACE_BACK:
  dirOut[0] = dir[0];
  dirOut[1] = dir[2];
  dirOut[2] = -dir[1];
  break;
 case CUBEMAP_FACE_LEFT:
  dirOut[0] = -dir[2];
  dirOut[1] = dir[0];
  dirOut[2] = -dir[1];
  break;
 case CUBEMAP_FACE_TOP: break; // no-op
 case CUBEMAP_FACE_BOTTOM:
  dirOut[0] = dir[0];
  dirOut[1] = -dir[1];
  dirOut[2] = -dir[2];
  break;
 case CUBEMAP_FACE_FRONT:
  dirOut[0] = -dir[0];
  dirOut[1] = -dir[2];
  dirOut[2] = -dir[1];
  break;
 case CUBEMAP_FACE_RIGHT:
  dirOut[0] = dir[2];
  dirOut[1] = -dir[0];
  dirOut[2] = -dir[1];
  break;
 }
 return dirOut;
}
void mapEquirectToCubemapCoordinate(
 const float x,
 const float y,
 const CubemapFace& face,
 const Mat& srcEqrMat,
 const float fisheyeFovRadians,
 float& srcX,
 float& srcY)
{
 const Vec3f dir = cubemapIndexToVec3(x, y, face);
 const float r = sqrtf(square(dir[0]) + square(dir[1]));
 const float phi = acosf(dir[2] / norm(dir));
 float theta = r > 0.0f ? acosf(fabs(dir[0] / r)) : 0.0f;
 if (dir[0] > 0 && dir[1] > 0) { // Quadrant I
         // (nothing to do)
 }
 else if (dir[0] <= 0 && dir[1] > 0) { // Quadrant II
  theta = M_PI - theta;
 }
 else if (dir[0] <= 0 && dir[1] <= 0) { // Quadrant III
  theta = M_PI + theta;
 }
 else { // Quadrant IV
  theta = 2 * M_PI - theta;
 }

 const float phiPrime = clamp(phi, 0.0f, fisheyeFovRadians);
 const float thetaPrime = clamp(theta, 0.0f, float(2.0f * M_PI));
 srcX = float(srcEqrMat.cols) * thetaPrime / (2.0f * M_PI);
 srcY = float(srcEqrMat.rows) * phiPrime / fisheyeFovRadians;
}

int wid = 512;
int MatInit()  //不要动
{

 CubemapFace face;
 //img size
 wid = sqrtf((float(picture_remap.rgbImg.cols) * float(picture_remap.rgbImg.rows)) / 6) + 0.5;
 const float dy = 1.0f / float(wid);
 const float dx = 1.0f / float(wid);
 for (int ii = 0; ii < 6; ii++)
 {
  warpMat1[ii] = Mat(Size(wid, wid), CV_32FC1);
  warpMat2[ii] = Mat(Size(wid, wid), CV_32FC1);
  warpMat[ii] = Mat(Size(wid, wid), CV_32FC2);
  //cv::ogl::Buffer::Target
  wBuf[ii].create(Size(wid, wid), picture_remap.rgbImg.type(), ogl::Buffer::Target::PIXEL_UNPACK_BUFFER);
  switch (ii)
  {
  case 0:
   face = CUBEMAP_FACE_RIGHT;
   break;
  case 1:
   face = CUBEMAP_FACE_LEFT;
   break;
  case 2:
   face = CUBEMAP_FACE_TOP;
   break;
  case 3:
   face = CUBEMAP_FACE_BOTTOM;
   break;
  case 4:
   face = CUBEMAP_FACE_BACK;
   break;
  case 5:
   face = CUBEMAP_FACE_FRONT;
   break;
  }
  for (int j = 0; j < wid; ++j)
  {
   for (int i = 0; i < wid; ++i)
   {
    float srcX;
    float srcY;
    mapEquirectToCubemapCoordinate(
     float(i) * dy - 0.5f,
     float(j) * dx - 0.5f,
     face,
     picture_remap.rgbImg,
     M_PI,
     srcX, srcY);
    warpMat1[ii].at<float>(j, i) = static_cast<float>(srcX);
    warpMat2[ii].at<float>(j, i) = static_cast<float>(srcY);
    warpMat[ii].at<Point2f>(j, i) = Point2f(srcX, srcY);
   }
  }
  wM1[ii].upload(warpMat1[ii]);
  wM2[ii].upload(warpMat2[ii]);
 }


 return 1;
}
char cur_state = 0;
void render()  //渲染过程 贴在天空盒子
{
 QueryPerformanceCounter(&nBeginTime);
 src[cur_state].upload(picture_remap.rgbImg, src_stream[cur_state]);
 QueryPerformanceCounter(&nEndTime);
 printf("upload time: %f\n", (double)(nEndTime.QuadPart - nBeginTime.QuadPart) / (double)nFreq.QuadPart);
 int ii;
 cuda::GpuMat dst_mat[6];
 cuda::Stream remap_stream[6];
 cur_state = cur_state ^ 0x01;
 QueryPerformanceCounter(&nBeginTime);
 src_stream[cur_state].waitForCompletion();
 QueryPerformanceCounter(&nEndTime);
 printf("wait time: %f\n", (double)(nEndTime.QuadPart - nBeginTime.QuadPart) / (double)nFreq.QuadPart);
 QueryPerformanceCounter(&nBeginTime);
 for (ii = 0; ii < 6; ii++)
 {
  int faceId = ii;
  dst_mat[ii] = wBuf[ii].mapDevice();
  cv::cuda::remap(
   src[cur_state],
   dst_mat[ii],
   wM1[faceId],
   wM2[faceId],
   CV_INTER_CUBIC,
   BORDER_WRAP,
   cv::Scalar(),
   remap_stream[ii]);
 }
 QueryPerformanceCounter(&nEndTime);
 printf("process time: %f\n", (double)(nEndTime.QuadPart - nBeginTime.QuadPart) / (double)nFreq.QuadPart);
 QueryPerformanceCounter(&nBeginTime);
 for (ii = 0; ii < 6; ii++)
 {
  remap_stream[ii].waitForCompletion();
  wBuf[ii].unmapDevice();
  wBuf[ii].bind(cv::ogl::Buffer::Target::PIXEL_UNPACK_BUFFER);
  glTexSubImage2D(cube[ii], 0, 0, 0, wid, wid, GL_BGR_EXT, GL_UNSIGNED_BYTE, 0);
  //write img
  
  dst_mat[ii].download(dst[ii]);
  char name[] = "L0.jpg";
  name[1] = '0' + ii;
  imwrite(name, dst[ii]);
 }
 QueryPerformanceCounter(&nEndTime);
 printf("render time: %f\n", (double)(nEndTime.QuadPart - nBeginTime.QuadPart) / (double)nFreq.QuadPart);
}
//opengl渲染过程：一开始创建一个纹理绑定在某个模型                 gltexture_2D改成_cubemape
void SetupRC()  //初始化 cubemapa 定点对应
{
 // Cull backs of polygons
 glCullFace(GL_BACK);
 glFrontFace(GL_CCW);
 glEnable(GL_DEPTH_TEST);

 // Set up texture maps        
 glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
 glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
 glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
 glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
 glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);
 glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
 glGenTextures(1, &cubeTexture);       //创建一个纹理
 glBindTexture(GL_TEXTURE_CUBE_MAP, cubeTexture); //绑定一个纹理

              //pre upload one frame
 src[1].upload(picture_remap.rgbImg, src_stream[1]);
 for (int ii = 0; ii < 6; ii++)
 {
  int faceId = ii;
  glTexImage2D(cube[ii], 0, GL_RGB, wid, wid, 0, GL_BGR_EXT, GL_UNSIGNED_BYTE, 0);// (void *)cvtmap.face[faceId].data); //512*512 贴图
 }
 glGenerateMipmap(GL_TEXTURE_CUBE_MAP);
 viewFrame.MoveForward(-4.0f);
 gltMakeCube(cubeBatch, 20.0f);

 skyBoxShader = gltLoadShaderPairWithAttributes("SkyBox.vp", "SkyBox.fp", 2,
  GLT_ATTRIBUTE_VERTEX, "vVertex",
  GLT_ATTRIBUTE_NORMAL, "vNormal");
 locMVPSkyBox = glGetUniformLocation(skyBoxShader, "mvpMatrix");
 glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);

}


void ShutdownRC(void)
{
 glDeleteTextures(1, &cubeTexture);
}
int ct = 0;
void RenderPic(void) //
{
 //这一段就是读yuv图片
 //fread(yuvImg.data, bufLen * sizeof(unsigned char), 1, pFileIn);
 //memcpy(yuvImg.data, pYuvBuf, bufLen * sizeof(unsigned char));
 // cv::cvtColor(yuvImg, picture_remap.rgbImg, CV_YUV2RGB_I420);


 render();
 ct++;
 if (ct == 10)
 {
  start_time = GetTickCount();
 }
 else if (ct > 10)
 {
  end_time = GetTickCount();
  float time = (end_time - start_time)*1.0 / 1000;
  printf("帧率 %f \n", (ct - 10) / time);
 }
 glutPostRedisplay();
}

// Called to draw scene
void RenderScene(void)
{
 //cvWaitKey(33);
 
  picture_remap.rgbImg = cvarrToMat(frame);
  // Clear the window
  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  M3DMatrix44f mCamera;
  M3DMatrix44f mCameraRotOnly;
  M3DMatrix44f mInverseCamera;
  viewFrame.GetCameraMatrix(mCamera, false);
  viewFrame.GetCameraMatrix(mCameraRotOnly, true);
  m3dInvertMatrix44(mInverseCamera, mCameraRotOnly);
  modelViewMatrix.PushMatrix();
  modelViewMatrix.MultMatrix(mCameraRotOnly);
  glUseProgram(skyBoxShader);
  glUniformMatrix4fv(locMVPSkyBox, 1, GL_FALSE, transformPipeline.GetModelViewProjectionMatrix());
  cubeBatch.Draw();
  modelViewMatrix.PopMatrix();
  RenderPic();
  //glutPostRedisplay();
  // Do the buffer Swap
  glutSwapBuffers();
 
}

void SpecialKeys(int key, int x, int y)
{
 if (key == GLUT_KEY_PAGE_UP)
  viewFrame.MoveForward(0.1f);
 if (key == GLUT_KEY_PAGE_DOWN)
  viewFrame.MoveForward(-0.1f);
 if (key == GLUT_KEY_LEFT)
  viewFrame.RotateLocalY(0.1);
 if (key == GLUT_KEY_RIGHT)
  viewFrame.RotateLocalY(-0.1);
 if (key == GLUT_KEY_UP)
  viewFrame.RotateLocalX(0.1f);
 if (key == GLUT_KEY_DOWN)
  viewFrame.RotateLocalX(-0.1f);


 // Refresh the Window
 glutPostRedisplay();
}

void ChangeSize(int w, int h)
{
 // Prevent a divide by zero
 if (h == 0)
  h = 1;
 // Set Viewport to window dimensions
 glViewport(0, 0, w, h);
 viewFrustum.SetPerspective(55.0f, float(w) / float(h), 0.1f, 1000.0f); //放摄像机
 projectionMatrix.LoadMatrix(viewFrustum.GetProjectionMatrix());
 transformPipeline.SetMatrixStacks(modelViewMatrix, projectionMatrix);
}
void FileSetup()
{
 pFileIn = fopen("1920.yuv", "rb+");
 printf("yuv file w: %d, h: %d \n", w, h);
 yuvImg.create(h * 3 / 2, w, CV_8U);
}


int main(int argc, char **argv)
{
 // FileSetup();
 picture_remap.rgbImg.setDefaultAllocator(cv::cuda::HostMem::getAllocator(cv::cuda::HostMem::AllocType::PAGE_LOCKED));
 picture_remap.rgbImg.create(4096, 2048, CV_8UC3);
 QueryPerformanceFrequency(&nFreq);
 glutInit(&argc, argv);
 glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
 glutInitWindowSize(800, 600);
 glutCreateWindow("OpenGL Cube Maps");
 //这一段就是读yuv图片
 // fread(yuvImg.data, bufLen * sizeof(unsigned char), 1, pFileIn);
 // cv::cvtColor(yuvImg, picture_remap.rgbImg, CV_YUV2RGB_I420);
 
 picture_remap.rgbImg = imread("4k.jpg");
 w = picture_remap.rgbImg.cols;
 h = picture_remap.rgbImg.rows;
 MatInit();

 glutReshapeFunc(ChangeSize);
 glutDisplayFunc(RenderScene);
 glutSpecialFunc(SpecialKeys);
 GLenum err = glewInit();
 if (GLEW_OK != err) {
  fprintf(stderr, "GLEW Error: %s\n", glewGetErrorString(err));
  return 1;
 }
 SetupRC();
 glutMainLoop();
 ShutdownRC();
 delete[] pYuvBuf;
 yuvImg.release();
 cvReleaseCapture(&capture);
 fclose(pFileIn);
 return 0;
}

1 picture_remap.rgbImg = imread("4k.jpg");//修改这一句，就可以把图片换成你显示盒切割的图片。 2 dst_mat[ii].download(dst[ii]);//这四句是把切割后的六张天空盒图片保存下来。 char name[] = "L0.jpg"; name[1] = '0' + ii; imwrite(name, dst[ii]);

3 Setup RC()//初始化工作，把图片绑定到内存

4 render()//主要切割工作由它完成