capture = cvCreateFileCapture(VideoAddr);	//这四句就是第一部分的改动，在main函数里面
int frames = (int)cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_COUNT);
frame = cvQueryFrame(capture);
picture_remap.rgbImg = cvarrToMat(frame);//picture_remap.rgbImg = imread("4k.jpg");

#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_MACROSextern "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
#endifMat 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;//SDLSDL_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 faceVec3f 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-opcase 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 IItheta = M_PI - theta;}else if (dir[0] <= 0 && dir[1] <= 0) { // Quadrant IIItheta = M_PI + theta;}else { // Quadrant IVtheta = 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 sizewid = 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::TargetwBuf[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 polygonsglCullFace(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 framesrc[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);frame = cvQueryFrame(capture);if (frame) {picture_remap.rgbImg = cvarrToMat(frame);// Clear the windowglClear(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 SwapglutSwapBuffers();}}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 WindowglutPostRedisplay();
}void ChangeSize(int w, int h)
{// Prevent a divide by zeroif (h == 0)h = 1;// Set Viewport to window dimensionsglViewport(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);capture = cvCreateFileCapture(VideoAddr);	int frames = (int)cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_COUNT);frame = cvQueryFrame(capture);picture_remap.rgbImg = cvarrToMat(frame);//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;
}

（尴尬，这一行怎么去掉，，，，，，）

#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 <math.h>
#include <stdlib.h>
#include <GL/gl.h>
#include <opencv2/cudawarping.hpp>
using namespace std;
using namespace cv;#define M_PI 3.14159265358979323846
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
};enum CubemapFace
{CUBEMAP_FACE_BACK,CUBEMAP_FACE_LEFT,CUBEMAP_FACE_FRONT,CUBEMAP_FACE_RIGHT,CUBEMAP_FACE_TOP,CUBEMAP_FACE_BOTTOM
};
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];
int wid = 1024;
int w = 1920;
int h = 1080;
char cur_state = 0;
struct RGB_pic    //存储修改前文件 yuv->RGB
{cv::Mat rgbImg;int length;int height;} picture_remap;template <typename T>
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;
}
inline Vec3f cubemapIndexToVec3(const float x, const float y, const CubemapFace face)
{// rotate and flip the direction as a function of the faceVec3f 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-opcase 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 IItheta = M_PI - theta;}else if (dir[0] <= 0 && dir[1] <= 0) { // Quadrant IIItheta = M_PI + theta;}else { // Quadrant IVtheta = 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 MatInit()  //不要动
{CubemapFace face;//img sizewid = 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::TargetwBuf[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;
}
int main(int argc, char **argv) {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");//src[1].upload(picture_remap.rgbImg, src_stream[1]); picture_remap.rgbImg = imread("4k.jpg");//输入一张图片src[1].upload(picture_remap.rgbImg, src_stream[1]);w = picture_remap.rgbImg.cols;h = picture_remap.rgbImg.rows;MatInit();//src[cur_state].upload(picture_remap.rgbImg, src_stream[cur_state]);int ii;cuda::GpuMat dst_mat[6];cuda::Stream remap_stream[6];//cur_state = cur_state ^ 0x01;//src_stream[cur_state].waitForCompletion();for ( ii = 0; ii < 6; ii++){int faceId = ii;dst_mat[ii] = wBuf[ii].mapDevice();cv::cuda::remap(//src[cur_state],src[1],dst_mat[ii],wM1[faceId],wM2[faceId],CV_INTER_CUBIC,BORDER_WRAP,cv::Scalar(),remap_stream[ii]);}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 imgdst_mat[ii].download(dst[ii]);//输出六张图片char name[] = "L0.jpg";name[1] = '0' + ii;imwrite(name, dst[ii]);}return 0;
}