CFBORender.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/img/CImage.h>
#include <mrpt/opengl/COpenGLScene.h>

namespace mrpt::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:
    /** 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::img::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::img::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::img::TColorf& getBackgroundColor() const
    {
        return m_default_bk_color;
    }

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

   protected:
    int m_win, m_width, m_height;
    unsigned int m_fbo{0}, m_tex{0};
    bool m_win_used;
    mrpt::img::TColorf m_default_bk_color;

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