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<div class="title">CFBORender.h</div> </div>
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<a href="_c_f_b_o_render_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef opengl_CFBORender_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CFBORender_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_open_g_l_scene_8h.html">mrpt/opengl/COpenGLScene.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_text_message_capable_8h.html">mrpt/opengl/CTextMessageCapable.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>opengl
<a name="l00039"></a>00039 {<span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment"> /** A class for rendering 3D scenes off-screen directly into an image using OpenGL extensions (glext).</span>
<a name="l00041"></a>00041 <span class="comment"> * To define a background color, set it in the scene's "main" viewport.</span>
<a name="l00042"></a>00042 <span class="comment"> *</span>
<a name="l00043"></a>00043 <span class="comment"> * You can add overlaid text messages, see base class CTextMessageCapable</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa Example "fbo_render_test"</span>
<a name="l00046"></a>00046 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 <span class="keyword">class </span><a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> CFBORender : <span class="keyword">public</span> mrpt::opengl::CTextMessageCapable
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="keyword">public</span>:
<a name="l00051"></a>00051 <span class="comment"></span>
<a name="l00052"></a>00052 <span class="comment"> /** Constructor</span>
<a name="l00053"></a>00053 <span class="comment"> */</span>
<a name="l00054"></a>00054 CFBORender( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 800, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> height = 600 );
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment"> /** Destructor</span>
<a name="l00057"></a>00057 <span class="comment"> */</span>
<a name="l00058"></a>00058 <span class="keyword">virtual</span> ~CFBORender();
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Change the scene camera.</span>
<a name="l00061"></a>00061 <span class="comment"> */</span>
<a name="l00062"></a>00062 <span class="keywordtype">void</span> setCamera( <span class="keyword">const</span> COpenGLScene& scene, <span class="keyword">const</span> CCamera& camera );
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Get a reference to the scene camera.</span>
<a name="l00065"></a>00065 <span class="comment"> */</span>
<a name="l00066"></a>00066 CCamera &getCamera( <span class="keyword">const</span> COpenGLScene& scene );
<a name="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** Render the scene and get the rendered rgb image. Resizes the image buffer if it</span>
<a name="l00069"></a>00069 <span class="comment"> is necessary.</span>
<a name="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a>00071 <span class="keywordtype">void</span> getFrame( <span class="keyword">const</span> COpenGLScene& scene, <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a>& image );
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Render the scene and get the rendered rgb image. Does not resize the image buffer.</span>
<a name="l00074"></a>00074 <span class="comment"> MANDATORY: The image origin must be bottom left.</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 <span class="keywordtype">void</span> getFrame2( <span class="keyword">const</span> COpenGLScene& scene, <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a>& image );
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** Resize the image size.</span>
<a name="l00079"></a>00079 <span class="comment"> */</span>
<a name="l00080"></a>00080 <span class="keywordtype">void</span> resize( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> height );
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="keyword">protected</span>:
<a name="l00083"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_f_b_o_render.html#a8b90c95b41b40a26bdd9d27560781ddb">00083</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_f_b_o_render.html#a8b90c95b41b40a26bdd9d27560781ddb">m_win</a>, m_width, m_height;
<a name="l00084"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_f_b_o_render.html#aa2d72ee615ffb9488310734559a0319b">00084</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m_fbo, <a class="code" href="classmrpt_1_1opengl_1_1_c_f_b_o_render.html#aa2d72ee615ffb9488310734559a0319b">m_tex</a>;
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Provide information on Framebuffer object extension.</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a>00088 <span class="keywordtype">int</span> isExtensionSupported( <span class="keyword">const</span> <span class="keywordtype">char</span>* extension );
<a name="l00089"></a>00089 };
<a name="l00090"></a>00090 } <span class="comment">// end namespace</span>
<a name="l00091"></a>00091
<a name="l00092"></a>00092 } <span class="comment">// End of namespace</span>
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="preprocessor">#endif</span>
</pre></div></div>
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