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, double near=0.1, double far=10.0)
	constructs the frame buffer object in a new OpenGL context.

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

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

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

void	callList (GLuint list) const
	executes a OpenGL list

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

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

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.

void	setCameraParameters (double fx, double fy, double cx, double cy)
	set the camera parameters

void	setClippingRange (double near, double far)
	sets the near and far clipping plane distances in meters

const double &	getNearClippingDistance () const
	returns the distance of the near clipping plane in meters

const double &	getFarClippingDistance () const
	returns the distance of the far clipping plane in meters

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

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

void	setBufferSize (unsigned width, unsigned height)
	set the size of frame buffers

const GLuint &	getProgramID () const

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

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

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,
		double	near = `0.1`,
		double	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 57 of file gl_renderer.cpp.

◆ ~GLRenderer()

mesh_filter::GLRenderer::~GLRenderer ( )

destructor, destroys frame buffer objects and OpenGL context

Definition at line 76 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 184 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 194 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 201 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 208 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 436 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 216 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 441 of file gl_renderer.cpp.

◆ getFarClippingDistance()

const double & 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 253 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 451 of file gl_renderer.cpp.

◆ getNearClippingDistance()

const double & 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 248 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 243 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 446 of file gl_renderer.cpp.

◆ setBufferSize()

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

set the size of frame 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 83 of file gl_renderer.cpp.

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◆ setCameraParameters()

void mesh_filter::GLRenderer::setCameraParameters	(	double	fx,
		double	fy,
		double	cx,
		double	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 104 of file gl_renderer.cpp.

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◆ setClippingRange()

void mesh_filter::GLRenderer::setClippingRange	(	double	near,
		double	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 94 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 224 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 237 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()