CFBORender.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef opengl_CFBORender_H
#define opengl_CFBORender_H

#include <mrpt/utils/CImage.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CTextMessageCapable.h>

namespace mrpt
{
namespace opengl
{
/** A class for rendering 3D scenes off-screen directly into an image using
 * OpenGL extensions (glext).
  *  To define a background color, set it in the scene's "main" viewport.
  *
  *  You can add overlaid text messages, see base class CTextMessageCapable
  *
  *  \sa Example "fbo_render_test"
  * \ingroup mrpt_opengl_grp
  */
class CFBORender : public mrpt::opengl::CTextMessageCapable
{
   public:
        /** Constructor.
          * \param[in] skip_glut_window Should be set to true only if another GUI
         * windows already exist with an associated OpenGL context. If left to
         * false, a hidden GLUT window will be created.
          */
        CFBORender(
                unsigned int width = 800, unsigned int height = 600,
                const bool skip_glut_window = false);

        /** Destructor */
        virtual ~CFBORender();

        /** Change the scene camera.
          */
        void setCamera(const COpenGLScene& scene, const CCamera& camera);

        /** Get a reference to the scene camera.
          */
        CCamera& getCamera(const COpenGLScene& scene);

        /** Render the scene and get the rendered rgb image. Resizes the image
           buffer if it
                is necessary.
          */
        void getFrame(const COpenGLScene& scene, mrpt::utils::CImage& image);

        /** Render the scene and get the rendered rgb image. Does not resize the
           image buffer.
                MANDATORY: The image origin must be bottom left.
          */
        void getFrame2(const COpenGLScene& scene, mrpt::utils::CImage& image);

        /** Resize the rendering canvas size. */
        void resize(unsigned int width, unsigned int height);

        /** Get the default background color (unles an COpenGLViewport defines a
         * custom color) */
        const mrpt::utils::TColorf& getBackgroundColor() const
        {
                return m_default_bk_color;
        }

        /** Set the default background color (unles an COpenGLViewport defines a
         * custom color) */
        void setBackgroundColor(const mrpt::utils::TColorf& col)
        {
                m_default_bk_color = col;
        }

   protected:
        int m_win, m_width, m_height;
        unsigned int m_fbo, m_tex;
        bool m_win_used;
        mrpt::utils::TColorf m_default_bk_color;

        /** Provide information on Framebuffer object extension.
          */
        int isExtensionSupported(const char* extension);
};
}  // end namespace

}  // End of namespace

#endif