Render.h

#ifndef ROBOT_RENDER_H_H
#define ROBOT_RENDER_H_H

#include <GL/freeglut.h>

#include "glm.h"
#include <opencv2/core/core.hpp>
struct ShapePoseInfo
{
	GLMmodel* m_shape;
	GLfloat mv_matrix[16];
	std::vector<cv::Point3d> m_bb;  //bound box 8 points
	void setBoundBox();
};

class Render
{
public:
	static void init(const cv::Mat& calibration, int width, int height, int argc, char** argv);
	static void reshape(int width, int height);
	static void display(void);
	/*static void mouse(int button, int state, int x, int y);
	static void mouseMovement(int x, int y);*/
	static void buildProjectionMatrix(const cv::Mat& calibration, GLfloat* projectionMatrix);
	static void matrixFromCV2GL(const cv::Mat& cv_matrix, GLfloat* gl_matrix);
	static void rendering();
	static cv::Point3f get3DPos(int x, int y);
	static cv::Mat getRenderedImg();
	static cv::Mat getRenderedImg(const cv::Point p1, const cv::Point p2);

	static void getDepthImg();
	static void getDepthImg(const cv::Point& p1, const cv::Point& p2);
public:
	static int m_width;
	static int m_height;
	static uchar* m_renderImg;
	static float* m_buffer_depth;
	static std::vector<ShapePoseInfo> m_shapePoseInfo;

	static double eye[3];  //camera location
	static double at[3];   //camera at location

	static bool m_is_material;

};

#endif //ROBOT_RENDER_H_H