CFBORender.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#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 OPENGL_IMPEXP 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