gl_renderer.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_MESH_FILTER_GLRENDERER_
#define MOVEIT_MESH_FILTER_GLRENDERER_

#include <moveit/macros/class_forward.h>
#include <GL/glew.h>
#ifdef __APPLE__
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#endif
#include <string>
#include <boost/thread.hpp>

namespace mesh_filter
{
MOVEIT_CLASS_FORWARD(GLRenderer);

class GLRenderer
{
public:
  GLRenderer(unsigned width, unsigned height, float near = 0.1, float far = 10.0);

  ~GLRenderer();

  void begin() const;

  void end() const;

  void callList(GLuint list) const;

  void getColorBuffer(unsigned char* buffer) const;

  void getDepthBuffer(float* buffer) const;

  GLuint setShadersFromFile(const std::string& vertex_filename, const std::string& fragment_filename);

  GLuint setShadersFromString(const std::string& vertex_shader, const std::string& fragment_shader);

  void setCameraParameters(float fx, float fy, float cx, float cy);

  void setClippingRange(float near, float far);

  const float& getNearClippingDistance() const;

  const float& getFarClippingDistance() const;

  const unsigned getWidth() const;

  const unsigned getHeight() const;

  void setBufferSize(unsigned width, unsigned height);

  const GLuint& getProgramID() const;

  GLuint getDepthTexture() const;

  GLuint getColorTexture() const;

private:
  void setCameraParameters() const;

  void readShaderCodeFromFile(const std::string& filename, std::string& source) const;

  GLuint loadShaders(const std::string& vertex_source, const std::string& fragment_source) const;

  GLuint createShader(GLuint shaderID, const std::string& source) const;

  void initFrameBuffers();

  void deleteFrameBuffers();

  static void createGLContext();

  static void deleteGLContext();

  unsigned width_;

  unsigned height_;

  GLuint fbo_id_;

  GLuint rbo_id_;

  GLuint rgb_id_;

  GLuint depth_id_;

  GLuint program_;

  float near_;

  float far_;

  float fx_;

  float fy_;

  float cx_;

  float cy_;

  static std::map<boost::thread::id, std::pair<unsigned, GLuint> > context_;

  /* \brief lock for context map */
  static boost::mutex context_lock_;

  static bool glutInitialized_;
};
}  // namespace mesh_filter
#endif