mrpt::opengl::CFBORender Class Reference

Detailed Description

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

See also

Example "fbo_render_test"

Definition at line 26 of file CFBORender.h.

#include <mrpt/opengl/CFBORender.h>

Public Member Functions
	CFBORender (unsigned int width=800, unsigned int height=600, const bool skip_glut_window=false)
	Constructor. More...
virtual	~CFBORender ()
	Destructor. More...
void	setCamera (const COpenGLScene &scene, const CCamera &camera)
	Change the scene camera. More...
CCamera &	getCamera (const COpenGLScene &scene)
	Get a reference to the scene camera. More...
void	getFrame (const COpenGLScene &scene, mrpt::img::CImage &image)
	Render the scene and get the rendered rgb image. More...
void	getFrame2 (const COpenGLScene &scene, mrpt::img::CImage &image)
	Render the scene and get the rendered rgb image. More...
void	resize (unsigned int width, unsigned int height)
	Resize the rendering canvas size. More...
const mrpt::img::TColorf &	getBackgroundColor () const
	Get the default background color (unles an COpenGLViewport defines a custom color) More...
void	setBackgroundColor (const mrpt::img::TColorf &col)
	Set the default background color (unles an COpenGLViewport defines a custom color) More...

Protected Member Functions
int	isExtensionSupported (const char *extension)
	Provide information on Framebuffer object extension. More...

Protected Attributes
int	m_win
int	m_width
int	m_height
unsigned int	m_fbo {0}
unsigned int	m_tex {0}
bool	m_win_used
mrpt::img::TColorf	m_default_bk_color

Constructor & Destructor Documentation

CFBORender()

CFBORender::CFBORender	(	unsigned int	width = 800,
		unsigned int	height = 600,
		const bool	skip_glut_window = false
	)

Constructor.

Parameters

[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.

Definition at line 23 of file CFBORender.cpp.

References argc, argv, ASSERT_, isExtensionSupported(), m_fbo, m_height, m_tex, m_width, m_win, m_win_used, MRPT_END, MRPT_START, and THROW_EXCEPTION.

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~CFBORender()

CFBORender::~CFBORender ( )

virtual

Destructor.

Definition at line 118 of file CFBORender.cpp.

References m_fbo, m_tex, m_win, and m_win_used.

Member Function Documentation

getBackgroundColor()

const mrpt::img::TColorf& mrpt::opengl::CFBORender::getBackgroundColor ( ) const

inline

Get the default background color (unles an COpenGLViewport defines a custom color)

Definition at line 66 of file CFBORender.h.

References m_default_bk_color.

getCamera()

CCamera & CFBORender::getCamera

(

const COpenGLScene &

scene

)

Get a reference to the scene camera.

Definition at line 143 of file CFBORender.cpp.

References mrpt::opengl::COpenGLScene::getViewport(), MRPT_END, and MRPT_START.

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getFrame()

void CFBORender::getFrame	(	const COpenGLScene &	scene,
		mrpt::img::CImage &	image
	)

Render the scene and get the rendered rgb image.

Resizes the image buffer if it is necessary.

Definition at line 156 of file CFBORender.cpp.

References mrpt::img::CH_RGB, getFrame2(), m_height, m_width, MRPT_END, and MRPT_START.

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getFrame2()

void CFBORender::getFrame2	(	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.

Definition at line 183 of file CFBORender.cpp.

References mrpt::img::TColorf::A, ASSERT_EQUAL_, mrpt::img::TColorf::B, mrpt::img::TColorf::G, m_default_bk_color, m_fbo, m_height, m_width, MRPT_END, MRPT_START, and mrpt::img::TColorf::R.

Referenced by getFrame().

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isExtensionSupported()

int CFBORender::isExtensionSupported ( const char *  extension )

protected

Provide information on Framebuffer object extension.

Definition at line 270 of file CFBORender.cpp.

References MRPT_END, and MRPT_START.

Referenced by CFBORender().

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resize()

void CFBORender::resize	(	unsigned int	width,
		unsigned int	height
	)

Resize the rendering canvas size.

Definition at line 223 of file CFBORender.cpp.

References m_fbo, m_height, m_tex, m_width, MRPT_END, and MRPT_START.

setBackgroundColor()

void mrpt::opengl::CFBORender::setBackgroundColor ( const mrpt::img::TColorf &  col )

inline

Set the default background color (unles an COpenGLViewport defines a custom color)

Definition at line 73 of file CFBORender.h.

References m_default_bk_color.

setCamera()

void CFBORender::setCamera	(	const COpenGLScene &	scene,
		const CCamera &	camera
	)

Change the scene camera.

Definition at line 131 of file CFBORender.cpp.

References mrpt::opengl::COpenGLScene::getViewport(), MRPT_END, and MRPT_START.

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Member Data Documentation

m_default_bk_color

mrpt::img::TColorf mrpt::opengl::CFBORender::m_default_bk_color

protected

Definition at line 82 of file CFBORender.h.

Referenced by getBackgroundColor(), getFrame2(), and setBackgroundColor().

m_fbo

unsigned int mrpt::opengl::CFBORender::m_fbo {0}

protected

Definition at line 80 of file CFBORender.h.

Referenced by CFBORender(), getFrame2(), resize(), and ~CFBORender().

m_height

int mrpt::opengl::CFBORender::m_height

protected

Definition at line 79 of file CFBORender.h.

Referenced by CFBORender(), getFrame(), getFrame2(), and resize().

m_tex

unsigned int mrpt::opengl::CFBORender::m_tex {0}

protected

Definition at line 80 of file CFBORender.h.

Referenced by CFBORender(), resize(), and ~CFBORender().

m_width

int mrpt::opengl::CFBORender::m_width

protected

Definition at line 79 of file CFBORender.h.

Referenced by CFBORender(), getFrame(), getFrame2(), and resize().

m_win

int mrpt::opengl::CFBORender::m_win

protected

Definition at line 79 of file CFBORender.h.

Referenced by CFBORender(), and ~CFBORender().

m_win_used

bool mrpt::opengl::CFBORender::m_win_used

protected

Definition at line 81 of file CFBORender.h.

Referenced by CFBORender(), and ~CFBORender().