gldifference.h

00001 /*
00002 * Orca-Robotics Project: Components for robotics 
00003 *               http://orca-robotics.sf.net/
00004 * Copyright (c) 2007-2009 Tom Burdick <thomas.burdick@gmail.com>
00005 *
00006 * This copy of Orca is licensed to you under the terms described in
00007 * the LICENSE file included in this distribution.
00008 *
00009 */
00010 
00011 #ifndef HYDRO_STEREOCAMERA_GLDIFFERENCE_H
00012 #define HYDRO_STEREOCAMERA_GLDIFFERENCE_H
00013 
00014 #include <hydroglu/hydroglu.h>
00015 
00016 namespace disparity 
00017 {
00018 
00019 class GLDifference : public hydroglu::GLProcess
00020 {
00021 public:
00022     GLDifference(size_t shifts, size_t offset);
00023     virtual ~GLDifference();
00024 
00025     virtual void initializeGL();
00026     virtual void processGL();
00027     virtual void setInputTextures( const std::vector<hydroglu::GLTexturePtr> & textures );
00028     virtual const std::vector<hydroglu::GLTexturePtr>& getOutputTextures();
00029 
00030 private:
00031     std::vector<hydroglu::GLTexturePtr> inputTextures_;
00032     std::vector<hydroglu::GLTexturePtr> outputTextures_;
00033     std::vector<hydroglu::GLFrameBufferPtr> outputFramebuffers_;
00034     hydroglu::GLProgramPtr differenceProgram_;
00035 
00036     std::vector<GLfloat> leftVerts_;
00037     std::vector<GLfloat> rightVerts_;
00038 
00039     size_t shifts_;
00040     size_t offset_;
00041     size_t width_;
00042     size_t height_;
00043 
00044     bool initialized_;
00045     bool haveTextures_;
00046 };
00047 
00048 }
00049 #endif