源码参考：https://download.csdn.net/download/weixin_55163060/88382816
安装opengl库
sudo apt install libglu1-mesa-dev freeglut3-dev mesa-common-dev
安装opengl工具包
sudo apt install mesa-utils
检查opengl版本信息（桌面终端执行）
sudo glxinfo | grep "OpenGL version"
显示：OpenGL version string: 3.3 (Compatibility Profile) Mesa 20.0.8
安装glfw窗口管理器
sudo apt-get install cmake xorg-dev libglu1-mesa-dev
wget https://sourceforge.net/projects/glfw/files/glfw/3.3.5/glfw-3.3.5.zip（wget https://github.com/glfw/glfw/releases/download/3.3.5/glfw-3.3.5.zip）
unzip glfw-3.3.5.zip
cd glfw-3.3.5
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install
【window.c】
#include <GLFW/glfw3.h>
#include <stdio.h>int main(void)
{GLFWwindow* window;/* Initialize the library */if (!glfwInit())return -1;/* Create a windowed mode window and its OpenGL context */window = glfwCreateWindow(640, 480, "Hello World", NULL, NULL);if (!window){glfwTerminate();return -1;}/* Make the window's context current */glfwMakeContextCurrent(window);/* Loop until the user closes the window */while (!glfwWindowShouldClose(window)){//glClearColor()命令指定了清除背景时用的颜色值,这里的(1，0，0，1)代表RGB中的红色，末尾的1表示不透明度glClearColor(1.0, 0.0, 0.0, 1.0); /* Render here */glClear(GL_COLOR_BUFFER_BIT);/* Swap front and back buffers */glfwSwapBuffers(window);/* Poll for and process events */glfwPollEvents();}glfwTerminate();return 0;
} 编译
gcc -o window window.c -lglfw3 -lGL -lX11 -lm -lpthread -ldl 执行显示一个红色窗口
【linmath.h】
https://github.com/datenwolf/linmath.h/blob/master/linmath.h
一个精简的线性数学库，旨在进行图形编程。 支持vec3，vec4，mat4x4和四元数
【GLAD库】（初始化后调用gl函数编译不会报错）
https://glad.dav1d.de/
GLAD是用来管理OpenGL的函数指针的，所以在调用任何OpenGL的函数之前我们需要初始化GLAD。GLAD也可以使OpenGL基础渲染变得简单。
【triangle.c】
//! [code]
#include "glad.h"
#define GLAD_GL_IMPLEMENTATION
#include <GL/gl.h>
//#include "glad.h"
#define GLFW_INCLUDE_NONE
#include <GLFW/glfw3.h>#include "linmath.h"#include <stdlib.h>
#include <stddef.h>
#include <stdio.h>typedef struct Vertex
{vec2 pos;vec3 col;
} Vertex;static const Vertex vertices[3] =
{{ { -0.6f, -0.4f }, { 1.f, 0.f, 0.f } },{ { 0.6f, -0.4f }, { 0.f, 1.f, 0.f } },{ { 0.f, 0.6f }, { 0.f, 0.f, 1.f } }
};static const char* vertex_shader_text =
"#version 330\n"
"uniform mat4 MVP;\n"
"in vec3 vCol;\n"
"in vec2 vPos;\n"
"out vec3 color;\n"
"void main()\n"
"{\n"
" gl_Position = MVP * vec4(vPos, 0.0, 1.0);\n"
" color = vCol;\n"
"}\n";static const char* fragment_shader_text =
"#version 330\n"
"in vec3 color;\n"
"out vec4 fragment;\n"
"void main()\n"
"{\n"
" fragment = vec4(color, 1.0);\n"
"}\n";static void error_callback(int error, const char* description)
{fprintf(stderr, "Error: %s\n", description);
}static void key_callback(GLFWwindow* window, int key, int scancode, int action, int mods)
{if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS)glfwSetWindowShouldClose(window, GLFW_TRUE);
}int main(void)
{glfwSetErrorCallback(error_callback);if (!glfwInit())exit(EXIT_FAILURE);glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);GLFWwindow* window = glfwCreateWindow(640, 480, "OpenGL Triangle", NULL, NULL);if (!window){glfwTerminate();exit(EXIT_FAILURE);}glfwSetKeyCallback(window, key_callback);glfwMakeContextCurrent(window);
if (!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress)){return -1;}glfwSwapInterval(1);// NOTE: OpenGL error checks have been omitted for brevityGLuint vertex_buffer;glGenBuffers(1, &vertex_buffer);glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer);glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);const GLuint vertex_shader = glCreateShader(GL_VERTEX_SHADER);glShaderSource(vertex_shader, 1, &vertex_shader_text, NULL);glCompileShader(vertex_shader);const GLuint fragment_shader = glCreateShader(GL_FRAGMENT_SHADER);glShaderSource(fragment_shader, 1, &fragment_shader_text, NULL);glCompileShader(fragment_shader);const GLuint program = glCreateProgram();glAttachShader(program, vertex_shader);glAttachShader(program, fragment_shader);glLinkProgram(program);const GLint mvp_location = glGetUniformLocation(program, "MVP");const GLint vpos_location = glGetAttribLocation(program, "vPos");const GLint vcol_location = glGetAttribLocation(program, "vCol");GLuint vertex_array;glGenVertexArrays(1, &vertex_array);glBindVertexArray(vertex_array);glEnableVertexAttribArray(vpos_location);glVertexAttribPointer(vpos_location, 2, GL_FLOAT, GL_FALSE,sizeof(Vertex), (void*) offsetof(Vertex, pos));glEnableVertexAttribArray(vcol_location);glVertexAttribPointer(vcol_location, 3, GL_FLOAT, GL_FALSE,sizeof(Vertex), (void*) offsetof(Vertex, col));while (!glfwWindowShouldClose(window)){int width, height;glfwGetFramebufferSize(window, &width, &height);const float ratio = width / (float) height;glViewport(0, 0, width, height);glClear(GL_COLOR_BUFFER_BIT);mat4x4 m, p, mvp;mat4x4_identity(m);mat4x4_rotate_Z(m, m, (float) glfwGetTime());mat4x4_ortho(p, -ratio, ratio, -1.f, 1.f, 1.f, -1.f);mat4x4_mul(mvp, p, m);glUseProgram(program);glUniformMatrix4fv(mvp_location, 1, GL_FALSE, (const GLfloat*) &mvp);glBindVertexArray(vertex_array);glDrawArrays(GL_TRIANGLES, 0, 3);glfwSwapBuffers(window);glfwPollEvents();}glfwDestroyWindow(window);glfwTerminate();exit(EXIT_SUCCESS);
}//! [code] 编译
gcc -o triangle glad.c triangle.c -lglfw3 -lGL -lX11 -lm -lpthread -ldl 执行程序显示旋转的三角形
【YUV描述】
一般RGB用于渲染，YUV用于传输。
YUV4:4:4：完全采用表示每个像素点都有一个Y,U,V。一个YUV占 8+8+8 = 24bits,3个字节。
YUV4:2:2: 就是2:1的水平取样，垂直完全采样，表示水平的两个像素有两个Y但是只有一个U一个V的采用格式。一个YUV占 8+4+4 = 16bits 2个字节。
YUV4:2:0：就是2:1的水平取样，2:1的垂直采样，表示上下左右四个像素点有4个Y但是只取一个U和一个V，一个YUV占 8+2+2 = 12bits 1.5个字节
planar的YUV格式表示先连续存储所有像素点的Y，再紧接着存储所有的U，再就是V。Y、U和V组件存储为三个独立的数组中。
packed的YUV格式表示每个像素点的YUV是连续交替存储的，先存储像素点1的YUV再存在像素点2的YUV像素点。Y、U和V组件存储在一个数组中。每个像素点的Y,U,V是连续交错存储的
YUV420P(YU12和YV12)格式
YU12：安卓的模式。存储顺序是先存Y，再存U，最后存V。YYYYYYYY UUVV （I420格式）
YV12：存储顺序是先存Y，再存V，最后存U。YYYYYYYY VVUU
YUV420SP(NV12和NV21)格式
NV12 是 IOS 中有的模式，它的存储顺序是先存 Y 分量，再 UV 进行交替存储。
NV21 是 安卓 中有的模式，它的存储顺序是先存 Y 分量，在 VU 交替存储
【h264转YUV命令】
ffmpeg -i C:\Users\Administrator\Desktop\test.h264 -y -an -frames 1 -s 1920x1080 out.yuv
pause 【GLSL】
OpenGL着色语言（OpenGL Shading Language）是用来在OpenGL中着色编程的语言，也即开发人员写的短小的自定义程序，他们是在图形卡的GPU （Graphic Processor Unit图形处理单元）上执行的，代替了固定的渲染管线的一部分，使渲染管线中不同层次具有可编程性。比如：视图转换、投影转换等。GLSL（GL Shading Language）的着色器代码分成2个部分：Vertex Shader（顶点着色器）和Fragment（片断着色器），有时还会有Geometry Shader（几何着色器）。负责运行顶点着色的是顶点着色器。它可以得到当前OpenGL 中的状态，GLSL内置变量进行传递。GLSL其使用C语言作为基础高阶着色语言，避免了使用汇编语言或硬件规格语言的复杂性。
【yuv_show.cpp】
#include<string>
#include<fstream>
#include<sstream>
#include<iostream>
#include<stdio.h>
#include "glad.h"
#include <GLFW/glfw3.h>typedef unsigned char BYTE;
const unsigned int SCR_WIDTH = 500;
const unsigned int SCR_HEIGHT = 600;
const int len = 1920*1080 * 3/2;
BYTE YUVdata [len];unsigned int VBO = 0;
unsigned int VAO = 0;
unsigned int EBO = 0;
unsigned int texturePIC = 0;
int shaderProgram = 0;GLuint texIndexarray[3];
GLuint texUniformY = 99;
GLuint texUniformU = 99;
GLuint texUniformV = 99;void LoadPicture()
{glGenTextures(3, texIndexarray);//生成三个纹理索引glBindTexture(GL_TEXTURE_2D, texIndexarray[0]);//为bind的纹理设置环绕，过滤方式glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);glBindTexture(GL_TEXTURE_2D, texIndexarray[1]);//为bind的纹理设置环绕，过滤方式glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);glBindTexture(GL_TEXTURE_2D, texIndexarray[2]);//为bind的纹理设置环绕，过滤方式glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);//使用着色器程序，返回采样器的序号glUseProgram(shaderProgram);//该语句必须要有；安装 指定着色器程序texUniformY = glGetUniformLocation(shaderProgram, "dataY");texUniformU = glGetUniformLocation(shaderProgram, "dataU");texUniformV = glGetUniformLocation(shaderProgram, "dataV");----------加载数据--------------------------------------------------------FILE* fp = fopen("./out.yuv","rb+");//I420int returns =fread(YUVdata,1,len,fp);int w = 1920;int h = 1080;int ysize = w*h;int uvsize = w * h / 4;void* uptr = &YUVdata[ysize];void* vptr = &YUVdata[ysize * 5 / 4];//---------------------------------------------------------------------------glActiveTexture(GL_TEXTURE0);glBindTexture(GL_TEXTURE_2D, texIndexarray[0]);// texindexarray[0] =1//使用GL_red表示单通道，glfw3里边没有YUV那个GL属性；glTexImage2D(GL_TEXTURE_2D, 0 , GL_RED, w, h ,0, GL_RED,GL_UNSIGNED_BYTE ,YUVdata);glUniform1i(texUniformY,0); //通过 glUniform1i 的设置，保证每个 uniform 采样器对应着正确的纹理单元;注意这里不能用tesindexarray[0];glActiveTexture(GL_TEXTURE1);glBindTexture(GL_TEXTURE_2D, texIndexarray[1]);glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, w/2, h/2, 0, GL_RED, GL_UNSIGNED_BYTE,uptr);glUniform1i(texUniformU, 1);glActiveTexture(GL_TEXTURE2);glBindTexture(GL_TEXTURE_2D, texIndexarray[2]);glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, w/2, h/2, 0, GL_RED, GL_UNSIGNED_BYTE,vptr);glUniform1i(texUniformV,2);glUseProgram(0);
}void render()
{glBindVertexArray(VAO);glUseProgram(shaderProgram);glDrawElements(GL_TRIANGLES,6,GL_UNSIGNED_INT,0);//glDrawArrays(GL_TRIANGLE_FAN,0,4);也可glUseProgram(0);glBindVertexArray(0);
}void initmodule()
{//做个一模型;正方形；映射了顶点坐标和纹理坐标的对应关系float vertexs[] = {//顶点坐标-------纹理坐标(屏幕坐标翻转)1.0f, 1.0f, 0.0f, 1.0f, 0.0f, 1.0f, -1.0f, 0.0f, 1.0f, 1.0f, -1.0f, -1.0f, 0.0f, 0.0f, 1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f };//一个正方形是由两个三角形得来的；记录顶点的索引顺序unsigned int indexs[] = {0,1,3,1,2,3,};//做VAOglGenVertexArrays(1,&VAO);glBindVertexArray(VAO);//做VBOglGenBuffers(1, &VBO);glBindBuffer(GL_ARRAY_BUFFER, VBO);//创建显存空间glBufferData(GL_ARRAY_BUFFER,sizeof(vertexs), vertexs, GL_STATIC_DRAW);//设置索引缓冲glGenBuffers(1,&EBO);glBindBuffer(GL_ELEMENT_ARRAY_BUFFER,EBO);glBufferData(GL_ELEMENT_ARRAY_BUFFER,sizeof(indexs),indexs,GL_STATIC_DRAW); //加载纹理图片,生成纹理LoadPicture();//设置第0个锚点,3个点，不需要归一化，跨度5个float可以读下一个点glVertexAttribPointer(0,3,GL_FLOAT,GL_FALSE,5*sizeof(float),(void*)0);//打开顶点glEnableVertexAttribArray(0);//纹理属性设置,纹理在第一个锚点上（指定顶点数据）glVertexAttribPointer(1,2, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)(3 * sizeof(float)));//打开纹理glEnableVertexAttribArray(1);//解除绑定VBOglBindBuffer(GL_ARRAY_BUFFER,0);//解绑VAOglBindVertexArray(0);}void initshader(const char* verpath,const char* fragpath)
{//编译shader，并记录shaderIDstd::string VerCode("");std::string fregCode("");//读文件std::ifstream vShaderFile;std::ifstream fShaderFile;vShaderFile.exceptions(std::ifstream::failbit | std::ifstream::badbit);fShaderFile.exceptions(std::ifstream::failbit | std::ifstream::badbit);try{vShaderFile.open(verpath);fShaderFile.open(fragpath);std::stringstream vsstream, fsstream;vsstream << vShaderFile.rdbuf();fsstream << fShaderFile.rdbuf();VerCode = vsstream.str();fregCode = fsstream.str();}catch (const std::exception&){std::cout << "read file error" << std::endl;}const char* vshader = VerCode.c_str();const char* fshader = fregCode.c_str();//shader 编译连接unsigned int vertexID = 0, fragID = 0;char infoLog[512];//存储错误信息int successflag = 0;vertexID = glCreateShader(GL_VERTEX_SHADER);glShaderSource(vertexID,1,&vshader,NULL );glCompileShader(vertexID);//获取编译是否成功glGetShaderiv(vertexID,GL_COMPILE_STATUS,&successflag);if (!successflag){glGetShaderInfoLog(vertexID,512,NULL,infoLog);std::string errstr(infoLog);std::cout << "v shader err"<<infoLog;}//fragfragID = glCreateShader(GL_FRAGMENT_SHADER);glShaderSource(fragID, 1, &fshader, NULL);glCompileShader(fragID);//获取编译是否成功glGetShaderiv(fragID, GL_COMPILE_STATUS, &successflag);if (!successflag){glGetShaderInfoLog(fragID, 512, NULL, infoLog);std::string errstr(infoLog);std::cout << "f shader err"<<infoLog;}//链接shaderProgram = glCreateProgram();glAttachShader(shaderProgram,vertexID);glAttachShader(shaderProgram,fragID);glBindAttribLocation(shaderProgram, 0, "aPos");glBindAttribLocation(shaderProgram, 1, "texCoord");glLinkProgram(shaderProgram);glGetProgramiv(shaderProgram,GL_LINK_STATUS,&successflag);if (!successflag){glGetShaderInfoLog(shaderProgram, 512, NULL, infoLog);std::string errstr(infoLog);std::cout << "link error";}//编译完成后，可以把中间的步骤程序删除glDeleteShader(vertexID);glDeleteShader(fragID);
}
void processInput(GLFWwindow *window)
{if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS){//将窗口设置为关闭，跳出循环glfwSetWindowShouldClose(window, true);}
}void framebuffer_size_callback(GLFWwindow* window, int width, int height)
{glViewport(0, 0, width, height);
}int main()
{//glfw初始化glfwInit();glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);//glfw创建窗口GLFWwindow* window = glfwCreateWindow(500, 600, "LearnOpenGL", NULL, NULL);if (window == NULL){printf("创建窗口失败");//终止glfwTerminate();return -1;}//显示窗口glfwMakeContextCurrent(window);//设置回调，当窗口大小调整后将调用该回调函数glfwSetFramebufferSizeCallback(window, framebuffer_size_callback);// glad初始化if (!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress)){printf("加载失败");return -1;}initshader("vertexShader.glsl", "fragmentShader.glsl");//先编译着色器initmodule();// 使用循环达到循环渲染效果while (!glfwWindowShouldClose(window)){//自定义输入事件processInput(window);glClearColor(0.0f,0.0f,0.0f,1.0f);glClear(GL_COLOR_BUFFER_BIT);render();//交互缓冲区，否则显示空白glfwSwapBuffers(window);//输入输出事件,否则无法对窗口进行交互glfwPollEvents();}//终止渲染 关闭并清理glfw本地资源glfwTerminate();return 0;
} 【vertexShader.glsl】
#version 330 core
layout(location = 0) in vec3 aPos;
layout(location = 1) in vec2 texCoord; out vec2 TexCoord;
void main()
{gl_Position = vec4(aPos.x,aPos.y,aPos.z,1.0);TexCoord = texCoord;
}; 【fragmentShader.glsl】
#version 330 core
layout(location = 0) out vec4 FragColor;
in vec2 TexCoord;
uniform sampler2D dataY;
uniform sampler2D dataU;
uniform sampler2D dataV;
vec3 yuv;
vec3 rgb;
void main()
{yuv.x = texture2D(dataY, TexCoord).r-0.0625;yuv.y = texture2D(dataU, TexCoord).r-0.5;yuv.z = texture2D(dataV, TexCoord).r-0.5;rgb = mat3(1, 1, 1, 0, -0.18732, 1.8556, 1.57481, -0.46813, 0) * yuv; FragColor = vec4(rgb.x, rgb.y,rgb.z,1);
}; 【编译】
g++ -o yuv_show glad.c yuv_show.cpp -lglfw3 -lGL -lX11 -lm -lpthread -ldl 【运行】
1、报错：v shader err0:2(1): error: shader output explicit location requires GL_ARB_separate_shader_objects extension or GLSL 4.20
原因：fragmentShader.glsl和vertexShader.glsl搞反了
2、报错：段错误
解决方法：sudo ./yuv_show
注：render()函数中增加LoadPicture()并修改其为读取不同的yuv数据可以实现视频流的播放。
