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 30 of file CFBORender.h.

#include <mrpt/opengl/CFBORender.h>

Inheritance diagram for mrpt::opengl::CFBORender:

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...

void	clearTextMessages ()

void	addTextMessage (const double x_frac, const double y_frac, const std::string &text, const mrpt::img::TColorf &color=mrpt::img::TColorf(1.0, 1.0, 1.0), const size_t unique_index=0, const mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Add 2D text messages overlapped to the 3D rendered scene. More...

void	addTextMessage (const double x_frac, const double y_frac, const std::string &text, const mrpt::img::TColorf &color, const std::string &font_name, const double font_size, const mrpt::opengl::TOpenGLFontStyle font_style=mrpt::opengl::NICE, const size_t unique_index=0, const double font_spacing=1.5, const double font_kerning=0.1, const bool has_shadow=false, const mrpt::img::TColorf &shadow_color=mrpt::img::TColorf(0, 0, 0))
	overload with more font parameters - refer to mrpt::opengl::gl_utils::glDrawText() More...

bool	updateTextMessage (const size_t unique_index, const std::string &text)
	Just updates the text of a given text message, without touching the other parameters. More...

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

void	render_text_messages (const int w, const int h) const
	Renders the messages to the current opengl rendering context (to be called OUT of MRPT mrpt::opengl render() methods ). More...

Protected Attributes
int	m_win

int	m_width

int	m_height

unsigned int	m_fbo

unsigned int	m_tex

bool	m_win_used

mrpt::img::TColorf	m_default_bk_color

std::map< size_t, mrpt::opengl::T2DTextData >	m_2D_texts

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 ASSERT_, GL_COLOR_ATTACHMENT0_EXT, GL_FRAMEBUFFER_EXT, GL_RGB, GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_RECTANGLE_EXT, GL_TEXTURE_RECTANGLE_NV, GL_UNSIGNED_BYTE, glBindFramebufferEXT, glBindTexture(), glDeleteFramebuffersEXT, glFramebufferTexture2DEXT, glGenFramebuffersEXT, glGenTextures(), glTexImage2D(), glViewport(), isExtensionSupported(), m_fbo, m_height, m_tex, m_width, m_win, m_win_used, MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ ~CFBORender()

CFBORender::~CFBORender ( )

virtual

Destructor.

Definition at line 118 of file CFBORender.cpp.

References glDeleteFramebuffersEXT, glDeleteTextures(), m_fbo, m_tex, m_win, and m_win_used.

Member Function Documentation

◆ addTextMessage() [1/2]

void CTextMessageCapable::addTextMessage	(	const double	x_frac,
		const double	y_frac,
		const std::string &	text,
		const mrpt::img::TColorf &	color,
		const std::string &	font_name,
		const double	font_size,
		const mrpt::opengl::TOpenGLFontStyle	font_style = `mrpt::opengl::NICE`,
		const size_t	unique_index = `0`,
		const double	font_spacing = `1.5`,
		const double	font_kerning = `0.1`,
		const bool	has_shadow = `false`,
		const mrpt::img::TColorf &	shadow_color = `mrpt::img::TColorf(0, 0, 0)`
	)

inherited

overload with more font parameters - refer to mrpt::opengl::gl_utils::glDrawText()

Definition at line 181 of file CTextMessageCapable.cpp.

References mrpt::opengl::TFontParams::color, mrpt::opengl::TFontParams::draw_shadow, mrpt::opengl::TFontParams::font, mrpt::opengl::MRPT_GLUT_BITMAP_NONE, mrpt::opengl::TFontParams::shadow_color, mrpt::opengl::T2DTextData::text, mrpt::opengl::TFontParams::vfont_kerning, mrpt::opengl::TFontParams::vfont_name, mrpt::opengl::TFontParams::vfont_scale, mrpt::opengl::TFontParams::vfont_spacing, mrpt::opengl::TFontParams::vfont_style, mrpt::opengl::T2DTextData::x, and mrpt::opengl::T2DTextData::y.

◆ addTextMessage() [2/2]

void CTextMessageCapable::addTextMessage	(	const double	x_frac,
		const double	y_frac,
		const std::string &	text,
		const mrpt::img::TColorf &	color = `mrpt::img::TColorf(1.0, 1.0, 1.0)`,
		const size_t	unique_index = `0`,
		const mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)

inherited

Add 2D text messages overlapped to the 3D rendered scene.

The string will remain displayed in the 3D window until it's changed with subsequent calls to this same method, or all the texts are cleared with clearTextMessages().

Parameters

x	The X position, interpreted as absolute pixels from the left if X>=1, absolute pixels from the left if X<0 or as a width factor if in the range [0,1[.
y	The Y position, interpreted as absolute pixels from the bottom if Y>=1, absolute pixels from the top if Y<0 or as a height factor if in the range [0,1[.
text	The text string to display.
color	The text color. For example: TColorf(1.0,1.0,1.0)
unique_index	An "index" for this text message, so that subsequent calls with the same index will overwrite this text message instead of creating new ones.

You'll need to refresh the display manually with forceRepaint().

See also: clearTextMessages

Definition at line 146 of file CTextMessageCapable.cpp.

References mrpt::opengl::TFontParams::color, mrpt::opengl::TFontParams::font, mrpt::opengl::T2DTextData::text, mrpt::opengl::T2DTextData::x, and mrpt::opengl::T2DTextData::y.

◆ clearTextMessages()

void CTextMessageCapable::clearTextMessages ( )

inherited

Definition at line 145 of file CTextMessageCapable.cpp.

◆ 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 70 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.

◆ 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 getFrame2(), m_height, m_width, MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

◆ 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 185 of file CFBORender.cpp.

References mrpt::img::TColorf::A, ASSERT_EQUAL_, mrpt::img::TColorf::B, mrpt::img::TColorf::G, GL_BGR_EXT, GL_FRAMEBUFFER_EXT, GL_UNSIGNED_BYTE, glBindFramebufferEXT, glClearColor(), glReadPixels(), m_default_bk_color, m_fbo, m_height, m_width, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::img::TColorf::R, mrpt::opengl::COpenGLScene::render(), and mrpt::opengl::CTextMessageCapable::render_text_messages().

Referenced by getFrame().

◆ isExtensionSupported()

int CFBORender::isExtensionSupported ( const char * extension )

protected

Provide information on Framebuffer object extension.

Definition at line 280 of file CFBORender.cpp.

References GL_EXTENSIONS, glGetString(), MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

Referenced by CFBORender().

◆ render_text_messages()

void CTextMessageCapable::render_text_messages	(	const int	w,
		const int	h
	)		const

protectedinherited

Renders the messages to the current opengl rendering context (to be called OUT of MRPT mrpt::opengl render() methods ).

(w,h) are the dimensions of the rendering area in pixels.

Definition at line 25 of file CTextMessageCapable.cpp.

References mrpt::opengl::FILL, GL_DEPTH_TEST, GL_MATRIX_MODE, GL_MODELVIEW, GL_PROJECTION, glColor3f(), glDisable(), mrpt::opengl::gl_utils::glDrawText(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glOrtho(), glPopMatrix(), glPushMatrix(), mrpt::opengl::gl_utils::glSetFont(), glTranslatef(), mrpt::opengl::MRPT_GLUT_BITMAP_HELVETICA_10, mrpt::opengl::MRPT_GLUT_BITMAP_HELVETICA_12, mrpt::opengl::MRPT_GLUT_BITMAP_HELVETICA_18, mrpt::opengl::MRPT_GLUT_BITMAP_NONE, mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_10, mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24, and MRPT_UNUSED_PARAM.

Referenced by getFrame2().

◆ resize()

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

Resize the rendering canvas size.

Definition at line 231 of file CFBORender.cpp.

References GL_FRAMEBUFFER_EXT, GL_RGB, GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_RECTANGLE_EXT, GL_TEXTURE_RECTANGLE_NV, GL_UNSIGNED_BYTE, glBindFramebufferEXT, glBindTexture(), glTexImage2D(), glViewport(), m_fbo, m_height, m_tex, m_width, MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

◆ 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 77 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.

◆ updateTextMessage()

bool CTextMessageCapable::updateTextMessage	(	const size_t	unique_index,
		const std::string &	text
	)

inherited

Just updates the text of a given text message, without touching the other parameters.

Returns: false if given ID doesn't exist.

Definition at line 165 of file CTextMessageCapable.cpp.

Member Data Documentation

◆ m_2D_texts

std::map<size_t, mrpt::opengl::T2DTextData> mrpt::opengl::CTextMessageCapable::m_2D_texts

protectedinherited

Definition at line 27 of file CTextMessageCapable.h.

◆ m_default_bk_color

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

protected

Definition at line 86 of file CFBORender.h.

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

◆ m_fbo

unsigned int mrpt::opengl::CFBORender::m_fbo

protected

Definition at line 84 of file CFBORender.h.

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

◆ m_height

int mrpt::opengl::CFBORender::m_height

protected

Definition at line 83 of file CFBORender.h.

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

◆ m_tex

unsigned int mrpt::opengl::CFBORender::m_tex

protected

Definition at line 84 of file CFBORender.h.

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

◆ m_width

int mrpt::opengl::CFBORender::m_width

protected

Definition at line 83 of file CFBORender.h.

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

◆ m_win

int mrpt::opengl::CFBORender::m_win

protected

Definition at line 83 of file CFBORender.h.

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

◆ m_win_used

bool mrpt::opengl::CFBORender::m_win_used

protected

Definition at line 85 of file CFBORender.h.

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

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ CFBORender()

◆ ~CFBORender()

Member Function Documentation

◆ addTextMessage() [1/2]

◆ addTextMessage() [2/2]

◆ clearTextMessages()

◆ getBackgroundColor()

◆ getCamera()

◆ getFrame()

◆ getFrame2()

◆ isExtensionSupported()

◆ render_text_messages()

◆ resize()

◆ setBackgroundColor()

◆ setCamera()

◆ updateTextMessage()

Member Data Documentation

◆ m_2D_texts

◆ m_default_bk_color

◆ m_fbo

◆ m_height

◆ m_tex

◆ m_width

◆ m_win

◆ m_win_used