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
	GLRenderer (unsigned width, unsigned height, float near=0.1, float far=10.0)
	constructs the frame buffer object in a new OpenGL context. More...

	~GLRenderer ()
	destructor, destroys frame buffer objects and OpenGL context More...

void	begin () const
	initializes the frame buffers for rendering and or manipulating More...

void	end () const
	finalizes the frame buffers after rendering and/or manipulating More...

void	callList (GLuint list) const
	executes a OpenGL list More...

void	getColorBuffer (unsigned char *buffer) const
	retrieves the color buffer from OpenGL More...

void	getDepthBuffer (float *buffer) const
	retrieves the depth buffer from OpenGL More...

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. More...

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. More...

void	setCameraParameters (float fx, float fy, float cx, float cy)
	set the camera parameters More...

void	setClippingRange (float near, float far)
	sets the near and far clipping plane distances in meters More...

const float &	getNearClippingDistance () const
	returns the distance of the near clipping plane in meters More...

const float &	getFarClippingDistance () const
	returns the distance of the far clipping plane in meters More...

unsigned	getWidth () const
	returns the width of the frame buffer objectsin pixels More...

unsigned	getHeight () const
	returns the height of the frame buffer objects in pixels More...

void	setBufferSize (unsigned width, unsigned height)
	set the size of fram buffers More...

const GLuint &	getProgramID () const

GLuint	getDepthTexture () const
	returns the handle of the depth buffer as an OpenGL texture object More...

GLuint	getColorTexture () const
	returns the handle of the color buffer as an OpenGL texture object More...

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 62 of file gl_renderer.h.

Constructor & Destructor Documentation

◆ GLRenderer()

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 58 of file gl_renderer.cpp.

◆ ~GLRenderer()

mesh_filter::GLRenderer::~GLRenderer ( )

destructor, destroys frame buffer objects and OpenGL context

Definition at line 77 of file gl_renderer.cpp.

Member Function Documentation

◆ begin()

void mesh_filter::GLRenderer::begin ( ) const

initializes the frame buffers for rendering and or manipulating

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 185 of file gl_renderer.cpp.

◆ callList()

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

executes a OpenGL list

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

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

Definition at line 195 of file gl_renderer.cpp.

◆ end()

void mesh_filter::GLRenderer::end ( ) const

finalizes the frame buffers after rendering and/or manipulating

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 202 of file gl_renderer.cpp.

◆ getColorBuffer()

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

retrieves the color buffer from OpenGL

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

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

Definition at line 209 of file gl_renderer.cpp.

◆ getColorTexture()

GLuint mesh_filter::GLRenderer::getColorTexture ( ) const

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

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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

Definition at line 435 of file gl_renderer.cpp.

◆ getDepthBuffer()

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

retrieves the depth buffer from OpenGL

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

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

Definition at line 217 of file gl_renderer.cpp.

◆ getDepthTexture()

GLuint mesh_filter::GLRenderer::getDepthTexture ( ) const

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

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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

Definition at line 440 of file gl_renderer.cpp.

◆ getFarClippingDistance()

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

returns the distance of the far clipping plane in meters

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Returns: distance of the far clipping plane in meters

Definition at line 254 of file gl_renderer.cpp.

◆ getHeight()

unsigned mesh_filter::GLRenderer::getHeight ( ) const

returns the height of the frame buffer objects in pixels

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Returns: height of frame buffer in pixels

Definition at line 450 of file gl_renderer.cpp.

◆ getNearClippingDistance()

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

returns the distance of the near clipping plane in meters

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Returns: distance of near clipping plane in meters

Definition at line 249 of file gl_renderer.cpp.

◆ getProgramID()

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

Returns: the current programID

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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

Definition at line 244 of file gl_renderer.cpp.

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◆ getWidth()

unsigned mesh_filter::GLRenderer::getWidth ( ) const

returns the width of the frame buffer objectsin pixels

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Returns: width of frame buffer in pixels

Definition at line 445 of file gl_renderer.cpp.

◆ setBufferSize()

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

set the size of fram buffers

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

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

Definition at line 84 of file gl_renderer.cpp.

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◆ setCameraParameters()

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

set the camera parameters

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 105 of file gl_renderer.cpp.

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◆ setClippingRange()

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

sets the near and far clipping plane distances in meters

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

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

Definition at line 95 of file gl_renderer.cpp.

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◆ setShadersFromFile()

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 225 of file gl_renderer.cpp.

◆ setShadersFromString()

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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.

Returns: programID

Definition at line 238 of file gl_renderer.cpp.

The documentation for this class was generated from the following files:

moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
moveit_ros/perception/mesh_filter/src/gl_renderer.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ GLRenderer()

◆ ~GLRenderer()

Member Function Documentation

◆ begin()

◆ callList()

◆ end()

◆ getColorBuffer()

◆ getColorTexture()

◆ getDepthBuffer()

◆ getDepthTexture()

◆ getFarClippingDistance()

◆ getHeight()

◆ getNearClippingDistance()

◆ getProgramID()

◆ getWidth()

◆ setBufferSize()

◆ setCameraParameters()

◆ setClippingRange()

◆ setShadersFromFile()

◆ setShadersFromString()