Abstracts the OpenGL frame buffer objects, and provides an interface to render meshes, and retrieve the color and depth ap from opengl. More...

#include <gl_renderer.h>

Public Member Functions
void	begin () const
	initializes the frame buffers for rendering and or manipulating
void	callList (GLuint list) const
	executes a OpenGL list
void	end () const
	finalizes the frame buffers after rendering and/or manipulating
void	getColorBuffer (unsigned char *buffer) const
	retrieves the color buffer from OpenGL
GLuint	getColorTexture () const
	returns the handle of the color buffer as an OpenGL texture object
void	getDepthBuffer (float *buffer) const
	retrieves the depth buffer from OpenGL
GLuint	getDepthTexture () const
	returns the handle of the depth buffer as an OpenGL texture object
const float &	getFarClippingDistance () const
	returns the distance of the far clipping plane in meters
const unsigned	getHeight () const
	returns the height of the frame buffer objects in pixels
const float &	getNearClippingDistance () const
	returns the distance of the near clipping plane in meters
const GLuint &	getProgramID () const
const unsigned	getWidth () const
	returns the width of the frame buffer objectsin pixels
	GLRenderer (unsigned width, unsigned height, float near=0.1, float far=10.0)
	constructs the frame buffer object in a new OpenGL context.
void	setBufferSize (unsigned width, unsigned height)
	set the size of fram buffers
void	setCameraParameters (float fx, float fy, float cx, float cy)
	set the camera parameters
void	setClippingRange (float near, float far)
	sets the near and far clipping plane distances in meters
GLuint	setShadersFromFile (const std::string &vertex_filename, const std::string &fragment_filename)
	loads, compiles, links and adds GLSL shaders from files to the current OpenGL context.
GLuint	setShadersFromString (const std::string &vertex_shader, const std::string &fragment_shader)
	loads, compiles, links and adds GLSL shaders from string to the current OpenGL context.
	~GLRenderer ()
	destructor, destroys frame buffer objects and OpenGL context
Private Member Functions
GLuint	createShader (GLuint shaderID, const std::string &source) const
	create a OpenGL shader object from the shader source code
void	deleteFrameBuffers ()
	deletes the frame buffer objects
void	initFrameBuffers ()
	initializes the frame buffer objects
GLuint	loadShaders (const std::string &vertex_source, const std::string &fragment_source) const
	Compiles, Links and adds the GLSL shaders from strings containing the source codes.
void	readShaderCodeFromFile (const std::string &filename, std::string &source) const
	reads shader source code from file to a string
void	setCameraParameters () const
	sets the OpenGL camera parameters
Static Private Member Functions
static void	createGLContext ()
	create the OpenGL context if required. Only on context is created for each thread
static void	deleteGLContext ()
	deletes OpenGL context for the current thread
Private Attributes
float	cx_
	x-coordinate of principal point of camera in pixels
float	cy_
	y-coordinate of principal point of camera in pixels
GLuint	depth_id_
	handle to depth buffer
float	far_
	distance of far clipping plane in meters
GLuint	fbo_id_
	handle to frame buffer object
float	fx_
	focal length in x-direction of camera in pixels
float	fy_
	focal length in y-direction of camera in pixels
unsigned	height_
	height of frame buffer objects in pixels
float	near_
	distance of near clipping plane in meters
GLuint	program_
	handle to program that is currently used
GLuint	rbo_id_
	handle to render buffer object
GLuint	rgb_id_
	handle to color buffer
unsigned	width_
	width of frame buffer objects in pixels
Static Private Attributes
static std::map < boost::thread::id, std::pair < unsigned, GLuint > >	context_
	map from thread id to OpenGL context
static boost::mutex	context_lock_
static bool	glutInitialized_ = false

Detailed Description

Abstracts the OpenGL frame buffer objects, and provides an interface to render meshes, and retrieve the color and depth ap from opengl.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 54 of file gl_renderer.h.

Constructor & Destructor Documentation

mesh_filter::GLRenderer::GLRenderer	(	unsigned	width,
		unsigned	height,
		float	near = `0.1`,
		float	far = `10.0`
	)

constructs the frame buffer object in a new OpenGL context.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	width	the width of the frame buffers
[in]	height	height of the framebuffers
[in]	near	distance of the near clipping plane in meters
[in]	far	distance of the far clipping plane in meters

Definition at line 57 of file gl_renderer.cpp.

mesh_filter::GLRenderer::~GLRenderer ( )

destructor, destroys frame buffer objects and OpenGL context

Definition at line 76 of file gl_renderer.cpp.

Member Function Documentation

void mesh_filter::GLRenderer::begin ( ) const

initializes the frame buffers for rendering and or manipulating

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 186 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::callList ( GLuint list ) const

executes a OpenGL list

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in] list the handle of the OpenGL list to be executed

Definition at line 196 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::createGLContext ( ) [static, private]

create the OpenGL context if required. Only on context is created for each thread

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 363 of file gl_renderer.cpp.

GLuint mesh_filter::GLRenderer::createShader	(	GLuint	shaderID,
		const std::string &	source
	)		const `[private]`

create a OpenGL shader object from the shader source code

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	shaderID	type of shader to be created (e.g. GL_VERTEX_SHADER or GL_FRAGMENT_SHADER)
[in]	source	the source code of the shader to be created

Returns:: handle to the shader object

Definition at line 260 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::deleteFrameBuffers ( ) [private]

deletes the frame buffer objects

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 172 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::deleteGLContext ( ) [static, private]

deletes OpenGL context for the current thread

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 410 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::end ( ) const

finalizes the frame buffers after rendering and/or manipulating

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 203 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::getColorBuffer ( unsigned char * buffer ) const

retrieves the color buffer from OpenGL

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[out] buffer pointer to memory where the color values need to be stored

Definition at line 210 of file gl_renderer.cpp.

GLuint mesh_filter::GLRenderer::getColorTexture ( ) const

returns the handle of the color buffer as an OpenGL texture object

Author:: Suat Gedikli (gedikli@willowgarage.com)

Returns:: handle of the OpenGL texture object for the color buffer

Definition at line 429 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::getDepthBuffer ( float * buffer ) const

retrieves the depth buffer from OpenGL

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[out] buffer pointer to memory where the depth values need to be stored

Definition at line 218 of file gl_renderer.cpp.

GLuint mesh_filter::GLRenderer::getDepthTexture ( ) const

returns the handle of the depth buffer as an OpenGL texture object

Author:: Suat Gedikli (gedikli@willowgarage.com)

Returns:: handle of the OpenGL texture object for the depth buffer

Definition at line 434 of file gl_renderer.cpp.

const float & mesh_filter::GLRenderer::getFarClippingDistance ( ) const

returns the distance of the far clipping plane in meters

Author:: Suat Gedikli (gedikli@willowgarage.com)

Returns:: distance of the far clipping plane in meters

Definition at line 255 of file gl_renderer.cpp.

const unsigned mesh_filter::GLRenderer::getHeight ( ) const

returns the height of the frame buffer objects in pixels

Author:: Suat Gedikli (gedikli@willowgarage.com)

Returns:: height of frame buffer in pixels

Definition at line 444 of file gl_renderer.cpp.

const float & mesh_filter::GLRenderer::getNearClippingDistance ( ) const

returns the distance of the near clipping plane in meters

Author:: Suat Gedikli (gedikli@willowgarage.com)

Returns:: distance of near clipping plane in meters

Definition at line 250 of file gl_renderer.cpp.

const GLuint & mesh_filter::GLRenderer::getProgramID ( ) const

Returns:: the current programID

Author:: Suat Gedikli (gedikli@willowgarage.com)

Returns:: current porgamID. 0 if no shaders are used.

Definition at line 245 of file gl_renderer.cpp.

const unsigned mesh_filter::GLRenderer::getWidth ( ) const

returns the width of the frame buffer objectsin pixels

Author:: Suat Gedikli (gedikli@willowgarage.com)

Returns:: width of frame buffer in pixels

Definition at line 439 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::initFrameBuffers ( ) [private]

initializes the frame buffer objects

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 130 of file gl_renderer.cpp.

GLuint mesh_filter::GLRenderer::loadShaders	(	const std::string &	vertex_source,
		const std::string &	fragment_source
	)		const `[private]`

Compiles, Links and adds the GLSL shaders from strings containing the source codes.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	vertex_source	string containing the vertex shader source code
[in]	fragment_source	string containing the fragment shader source code

Returns:: programID

Definition at line 313 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::readShaderCodeFromFile	(	const std::string &	filename,
		std::string &	source
	)		const `[private]`

reads shader source code from file to a string

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	filename	path to file containing the shader source code
[out]	source	string to be filled with the shader source code

Definition at line 290 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::setBufferSize	(	unsigned	width,
		unsigned	height
	)

set the size of fram buffers

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	width	width of frame buffer in pixels
[in]	height	height of frame buffer in pixels

Definition at line 85 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::setCameraParameters	(	float	fx,
		float	fy,
		float	cx,
		float	cy
	)

set the camera parameters

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	fx	focal length in x-direction
[in]	fy	focal length in y-direction
[in]	cx	x component of principal point
[in]	cy	y component of principal point

Definition at line 106 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::setCameraParameters ( ) const [private]

sets the OpenGL camera parameters

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 114 of file gl_renderer.cpp.

void mesh_filter::GLRenderer::setClippingRange	(	float	near,
		float	far
	)

sets the near and far clipping plane distances in meters

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	near	distance of the near clipping plane in meters
[in]	far	distance of the far clipping plane in meters

Definition at line 96 of file gl_renderer.cpp.

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

loads, compiles, links and adds GLSL shaders from files to the current OpenGL context.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	vertex_filename	path to vertex shader source code. Can set to "" (empty string) if no vertex shader is used.
[in]	fragment_filename	path to fragemnt shader source code. Can be set to "" if no fragment shader is used.

Returns:: the programID

Definition at line 226 of file gl_renderer.cpp.

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

loads, compiles, links and adds GLSL shaders from string to the current OpenGL context.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in]	vertex_shader	source code of the vertex shader. Can be "" if no vertex shader is used.
[in]	fragment_shader	source code of the fragment shader. Can be "" if no fragment shader is used.