OpenGL是为渲染图形而设计的，OpenCV是为计算机视觉而设计的。因此，我建议你在基于GL的应用程序中使用CV，而不是使用CV API来渲染、回调等。
如果你想要的只是一个简单的演示，那么你可以使用freeGLUT编写一个非常简单的程序，带有一些回调，freeGLUT将处理窗口回调和GL上下文创建。（GLFW或Qt也可以）在程序中，使用cv::ogl::Texture2D类来处理纹理对象。使用Texture2D::copyFrom(...)和Texture2D::copyTo(...)来处理设备/主机内存传输。在渲染回调中，使用标准的GL程序来绘制一个全屏矩形。2虽然这个方法效率不高，但它可以工作。

# include <GL/glew.h>

# include <GL/freeglut.h>

# include <opencv2/opencv.hpp>

# include <opencv2/core/opengl_interop.hpp>

using namespace cv;

//Global vars
Texture2D g_img;
void timer_cb( int )
{
    //...Update the content of g_img
}

void resize_cb( int w, int h ) { /*...*/ }
void render_cb() {
    /* ...render g_img here */
    g_img.bind();

# ifdef USE_FIXED_PIPELINE

//use fixed pipeline for old-school GL rendering
    glMatrixMode( GL_MODELVIEW );
    //Do some transformation
    glBegin(GL_QUADS);
        glTexCoord(...);
        glVertex**(...);
        ...
    glEnd();

# else

//use shaders and VBOs for 3.1+ GL
    glBindProgram( ... );
    glBindBuffer( ... );
    glVertexAttribPointer( ... );
    glDrawArrays( ... );

# endif

}
int main( int argc, char**argv )
{
    //...init GLUT, GLEW and other stuff
    glutMainLoop();
    return 0;
}

注意事项：
1.建议使用freeGLUT而不是GLUT，它们是两件事。GLUT已经过时了。但是freeGLUT在扩展GLUT的同时继续支持最新的OpenGL版本。
1.您可能需要像GLEW这样的GL loading library来获取GL函数指针
1.较新的OpenGL（3.1+）不再支持固定管线渲染，因此需要VBO和着色器。如果您的目标是较低版本的GL，则需要指定上下文版本。这可以通过glutInitContextVersion( int major, int minor )完成。网上有很多教程。

我已经编写了一个完整的演示，完全做到了这一点（好处是在GPU上完成所有操作-步骤之间没有复制）
https://github.com/kallaballa/GCV/blob/main/src/camera/camera-demo.cpp
关键代码部分：

using namespace kb;
//Initialize VAAPI/OpenCL Context and bind (activate) it
va::init();
//Initialize HW decoding using VAAPI
cv::VideoCapture cap(INPUT_FILENAME, cv::CAP_FFMPEG, {
        cv::CAP_PROP_HW_DEVICE, VA_HW_DEVICE_INDEX,
        cv::CAP_PROP_HW_ACCELERATION, cv::VIDEO_ACCELERATION_VAAPI,
        cv::CAP_PROP_HW_ACCELERATION_USE_OPENCL, 1
});

//bind the VAAPI/OpenCL context
va::bind()
//Initialize VP9 HW encoding using VAAPI.
cv::VideoWriter video(OUTPUT_FILENAME, cv::CAP_FFMPEG, cv::VideoWriter::fourcc('V', 'P', '9', '0'), INPUT_FPS, cv::Size(WIDTH, HEIGHT), {
    cv::VIDEOWRITER_PROP_HW_ACCELERATION, cv::VIDEO_ACCELERATION_VAAPI,
    cv::VIDEOWRITER_PROP_HW_ACCELERATION_USE_OPENCL, 1
});

//the Umat we are going to use as a framebuffer (RGBA) and the video buffer (RGB)
cv::UMat frameBuffer;
cv::UMat videoFrame;

//Initialize and bind the OpenCL context for OpenGL
gl::init();
//Aquire the framebuffer from OpenGL so we can write the video frame to it
gl::acquire_from_gl(frameBuffer);
//Bind the OpenCL context for VAAPI
va::bind();
//Decode a frame on the GPU using VAAPI
cap >> videoFrame;
//Color-conversion from BGR to RGBA into the framebuffer. (OpenCL)
cv::cvtColor(videoFrame, frameBuffer, cv::COLOR_RGB2BGRA);

//Bind the OpenCL Context for OpenGL
gl::bind();
//Release the frame buffer for use by OpenGL
gl::release_to_gl(frameBuffer);

//Bind the FBO that was prepared by calling gl::init()
glBindFramebuffer(GL_FRAMEBUFFER, kb::gl::frame_buf);
//OpenGL
glViewport(0, 0, WIDTH , HEIGHT );
glRotatef(1, 0, 1, 0);
glClearColor(0.0f, 0.0f, 1.0f, 1.0f);
glColor3f(1.0, 1.0, 1.0);
glBegin(GL_LINES);
for (GLfloat i = -2.5; i <= 2.5; i += 0.25) {
    glVertex3f(i, 0, 2.5);
    glVertex3f(i, 0, -2.5);
    glVertex3f(2.5, 0, i);
    glVertex3f(-2.5, 0, i);
}
glEnd();
glFlush();

//Acquire the frame buffer from OpenGL for use with OpenCL
gl::acquire_from_gl(frameBuffer);
//Color-conversion from BGRA to RGB. (OpenCL)
cv::cvtColor(frameBuffer, videoFrame, cv::COLOR_BGRA2RGB);
//Bind the OpenCL context for VAAPI
va::bind();
//Encode the frame using VAAPI on the GPU.
video.write(videoFrame);

缩短的互操作函数：

namespace kb {
namespace va {
void init() {
    if (!va::open_display())
        throw std::runtime_error("Failed to open VA display for CL-VA interoperability");

    va::check_if_YUV420_available();

    cv::va_intel::ocl::initializeContextFromVA(va::display, true);

    va::context = cv::ocl::OpenCLExecutionContext::getCurrent();
}
void bind() {
    va::context.bind();
}
}

namespace gl {
void init() {
    glewExperimental = true;
    glewInit();

    cv::ogl::ocl::initializeContextFromGL();

    frame_buf = 0;
    glCheck(glGenFramebuffers(1, &frame_buf));
    glCheck(glBindFramebuffer(GL_DRAW_FRAMEBUFFER, frame_buf));

    GLuint sb;
    glGenRenderbuffers(1, &sb);
    glBindRenderbuffer(GL_RENDERBUFFER, sb);
    glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, WIDTH, HEIGHT);

    glCheck(glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT, GL_RENDERBUFFER, sb));

    frame_buf_tex = new cv::ogl::Texture2D(cv::Size(WIDTH, HEIGHT), cv::ogl::Texture2D::RGBA, false);
    frame_buf_tex->bind();
    glCheck(glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, frame_buf_tex->texId(), 0));

    assert(glCheckFramebufferStatus(GL_FRAMEBUFFER) == GL_FRAMEBUFFER_COMPLETE);

    gl::context = cv::ocl::OpenCLExecutionContext::getCurrent();
    initialized = true;
}
void bind() {
    gl::context.bind();
}
void acquire_from_gl(cv::UMat &m) {
    glCheck(cv::ogl::convertFromGLTexture2D(*gl::frame_buf_tex, m));
}
void release_to_gl(cv::UMat &m) {
    glCheck(cv::ogl::convertToGLTexture2D(m, *gl::frame_buf_tex));
}
}
}

请注意repo的README，因为演示需要您构建我的OpenCV-4.x fork（https://github.com/kallaballa/opencv/tree/GCV）。无论如何，我正在努力将这些更改放到主线中：

• https://github.com/opencv/opencv/pulls/kallaballa
• https://github.com/opencv/opencv/issues/created_by/kallaballa