gl_renderer.hpp

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/* Author: Suat Gedikli */
 
#pragma once
 
#include <moveit/macros/class_forward.hpp>
#include <GL/glew.h>
#ifdef __APPLE__
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#endif
#include <string>
#include <thread>
#include <mutex>
#include <map>
 
#undef near
#undef far
 
namespace mesh_filter
{
MOVEIT_CLASS_FORWARD(GLRenderer);  // Defines GLRendererPtr, ConstPtr, WeakPtr... etc
 
class GLRenderer
{
public:
  GLRenderer(unsigned width, unsigned height, double near = 0.1, double 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(double fx, double fy, double cx, double cy);
 
  void setClippingRange(double near, double far);
 
  const double& getNearClippingDistance() const;
 
  const double& getFarClippingDistance() const;
 
  unsigned getWidth() 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_;
 
  double near_;
 
  double far_;
 
  float fx_;
 
  float fy_;
 
  float cx_;
 
  float cy_;
 
  static std::map<std::thread::id, std::pair<unsigned, GLuint> > s_context;
 
  /* \brief lock for context map */
  static std::mutex s_context_lock;
 
  static bool s_glut_initialized;
};
}  // namespace mesh_filter