opengl_viewer.hpp

//
//  opengl_viewer.hpp
//  stereo-visualization
//
//  Created by Carlos Zoido on 09/01/2019.
//

#ifndef opengl_viewer_hpp
#define opengl_viewer_hpp

#include <GL/glew.h>
#include <GLFW/glfw3.h>
#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/type_ptr.hpp>
#include <opencv2/opencv.hpp>

#include "opengl_shader.hpp"
#include "opengl_camera.hpp"

class OpenGLViewer
{
public:
    OpenGLViewer(void);
    ~OpenGLViewer(void);
    int RenderFrame(cv::Mat camera_image,cv::Mat point_cloud);
    void terminate();
    bool ShouldClose() const {return glfwWindowShouldClose(window_);};
private:
    int CreateWindow();
    int CreateGeometries();
    void on_scroll(GLFWwindow* window, double xoffset, double yoffset);
    void on_mouse(GLFWwindow* window, double xpos, double ypos);
    void on_window_resize(GLFWwindow* window, int width, int height);
    void ProcessInput();
    void ShowStereoCamera(bool show) { show_stereo_camera_=show;};
    std::unique_ptr<OpenGLCamera> camera_;
    Shader cam_render_shader_;
    unsigned int cam_render_texture_;
    Shader point_cloud_shader_;
    cv::Mat image;
    const GLuint window_width_;
    const GLuint window_height_;
    GLFWwindow* window_;
    bool first_mouse_;
    float last_x_;
    float last_y_;
    unsigned int camera_quad_vbo_, camera_quad_vao_, camera_quad_ebo_;
    unsigned int point_cloud_vao_,point_cloud_vbo_;
    float delta_time_;
    float last_frame_time_;
    bool show_stereo_camera_;
};

#endif /* opengl_viewer_hpp */