Visual Servoing Platform  version 3.6.1 under development (2024-12-17)
Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes | List of all members
vpPanda3DBaseRenderer Class Reference
ar: Augmented reality module » Renderer » Panda3D Renderer

#include <visp3/ar/vpPanda3DBaseRenderer.h>

+ Inheritance diagram for vpPanda3DBaseRenderer:

Public Member Functions

 vpPanda3DBaseRenderer (const std::string &rendererName)
 
virtual ~vpPanda3DBaseRenderer ()=default
 
virtual void initFramework ()
 
virtual void initFromParent (std::shared_ptr< PandaFramework > framework, PointerTo< WindowFramework > window)
 
virtual void initFromParent (const vpPanda3DBaseRenderer &renderer)
 
virtual void beforeFrameRendered ()
 
virtual void renderFrame ()
 
virtual void afterFrameRendered ()
 
const std::string & getName () const
 
void setName (const std::string &name)
 
NodePath & getRenderRoot ()
 
virtual void setRenderParameters (const vpPanda3DRenderParameters &params)
 
virtual bool isRendering3DScene () const
 
int getRenderOrder () const
 
void setRenderOrder (int order)
 
virtual void setCameraPose (const vpHomogeneousMatrix &wTc)
 
virtual vpHomogeneousMatrix getCameraPose ()
 
virtual void setNodePose (const std::string &name, const vpHomogeneousMatrix &wTo)
 
virtual void setNodePose (NodePath &object, const vpHomogeneousMatrix &wTo)
 
virtual vpHomogeneousMatrix getNodePose (const std::string &name)
 
virtual vpHomogeneousMatrix getNodePose (NodePath &object)
 
void computeNearAndFarPlanesFromNode (const std::string &name, float &near, float &far, bool fast)
 
NodePath loadObject (const std::string &nodeName, const std::string &modelPath)
 
virtual void addNodeToScene (const NodePath &object)
 
void setVerticalSyncEnabled (bool useVsync)
 
void setAbortOnPandaError (bool abort)
 
void enableDebugLog ()
 
void printStructure ()
 
virtual GraphicsOutput * getMainOutputBuffer ()
 
virtual void enableSharedDepthBuffer (vpPanda3DBaseRenderer &sourceBuffer)
 

Static Public Member Functions

static vpColVector vispPointToPanda (const vpColVector &point)
 
static vpColVector vispVectorToPanda (const vpColVector &vec)
 

Protected Member Functions

virtual void setupScene ()
 
virtual void setupCamera ()
 
virtual void setupRenderTarget ()
 

Protected Attributes

std::string m_name
 
int m_renderOrder
 
std::shared_ptr< PandaFramework > m_framework
 
PointerTo< WindowFramework > m_window
 
vpPanda3DRenderParameters m_renderParameters
 
NodePath m_renderRoot
 
PointerTo< Camera > m_camera
 
NodePath m_cameraPath
 
std::vector< GraphicsOutput * > m_buffers
 

Static Protected Attributes

static const vpHomogeneousMatrix VISP_T_PANDA
 
static const vpHomogeneousMatrix PANDA_T_VISP
 

Detailed Description

Base class for a panda3D renderer. This class handles basic functionalities, such as loading object, changing camera parameters.

For a subclass to have a novel behaviour (e.g, display something else) These methods should be overriden:

  • setupScene: This is where you should apply your shaders.
  • setupCamera: This is where cameras are created and intrinsics parameters are applied
  • setupRenderTarget: This is where you should create the texture buffers, where the render results should be stored.

Definition at line 57 of file vpPanda3DBaseRenderer.h.

Constructor & Destructor Documentation

◆ vpPanda3DBaseRenderer()

vpPanda3DBaseRenderer::vpPanda3DBaseRenderer ( const std::string &  rendererName)
inline

Definition at line 60 of file vpPanda3DBaseRenderer.h.

◆ ~vpPanda3DBaseRenderer()

virtual vpPanda3DBaseRenderer::~vpPanda3DBaseRenderer ( )
virtualdefault

Member Function Documentation

◆ addNodeToScene()

void vpPanda3DBaseRenderer::addNodeToScene ( const NodePath &  object)
virtual

Add a node to the scene. Its pose is set as the identity matrix.

Parameters
object

Reimplemented in vpPanda3DRGBRenderer, and vpPanda3DRendererSet.

Definition at line 286 of file vpPanda3DBaseRenderer.cpp.

References m_renderRoot, and setNodePose().

◆ afterFrameRendered()

virtual void vpPanda3DBaseRenderer::afterFrameRendered ( )
inlinevirtual

Reimplemented in vpPanda3DRendererSet, and vpPanda3DPostProcessFilter.

Definition at line 79 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DPostProcessFilter::afterFrameRendered(), and renderFrame().

◆ beforeFrameRendered()

virtual void vpPanda3DBaseRenderer::beforeFrameRendered ( )
inlinevirtual

Reimplemented in vpPanda3DRendererSet.

Definition at line 77 of file vpPanda3DBaseRenderer.h.

Referenced by renderFrame().

◆ computeNearAndFarPlanesFromNode()

void vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode ( const std::string &  name,
float &  near,
float &  far,
bool  fast 
)

Compute the near and far planes for the camera at the current pose, given a certain node/part of the graph.

The near clipping value will be set to the distance to the closest point of the object. The far clipping value will be set to the distance to farthest vertex of the object.

Warning
Depending on geometry complexity, this may be an expensive operation.
if the object lies partly behind the camera, the near plane value will be zero. If it fully behind, the far plane will also be zero. If these near/far values are used to update the rendering parameters of the camera, this may result in an invalid projection matrix.
Parameters
namename of the node that should be used to compute near and far values.
nearresulting near clipping plane distance
farresulting far clipping plane distance
fastWhether to use the axis align bounding box to compute the clipping planes. This is faster than reprojecting the full geometry in the camera frame

Definition at line 191 of file vpPanda3DBaseRenderer.cpp.

References vpException::badValue, vpException::fatalError, getCameraPose(), getNodePose(), vpHomogeneousMatrix::inverse(), m_camera, m_cameraPath, m_renderRoot, vpException::notInitialized, and PANDA_T_VISP.

◆ enableDebugLog()

void vpPanda3DBaseRenderer::enableDebugLog ( )

Definition at line 312 of file vpPanda3DBaseRenderer.cpp.

◆ enableSharedDepthBuffer()

void vpPanda3DBaseRenderer::enableSharedDepthBuffer ( vpPanda3DBaseRenderer &  sourceBuffer)
virtual

Reimplemented in vpPanda3DRendererSet.

Definition at line 261 of file vpPanda3DBaseRenderer.cpp.

References vpException::fatalError, getMainOutputBuffer(), and isRendering3DScene().

◆ getCameraPose()

vpHomogeneousMatrix vpPanda3DBaseRenderer::getCameraPose ( )
virtual

Retrieve the camera's pose, in the world frame. The pose is specified using the ViSP convention (Y-down right handed).

Reimplemented in vpPanda3DRendererSet.

Definition at line 150 of file vpPanda3DBaseRenderer.cpp.

References getNodePose(), m_camera, m_cameraPath, and vpException::notInitialized.

Referenced by computeNearAndFarPlanesFromNode().

◆ getMainOutputBuffer()

virtual GraphicsOutput* vpPanda3DBaseRenderer::getMainOutputBuffer ( )
inlinevirtual

Reimplemented in vpPanda3DRGBRenderer, vpPanda3DPostProcessFilter, and vpPanda3DGeometryRenderer.

Definition at line 241 of file vpPanda3DBaseRenderer.h.

Referenced by enableSharedDepthBuffer().

◆ getName()

const std::string& vpPanda3DBaseRenderer::getName ( ) const
inline

Get the name of the renderer.

Returns
const std::string&

Definition at line 92 of file vpPanda3DBaseRenderer.h.

◆ getNodePose() [1/2]

vpHomogeneousMatrix vpPanda3DBaseRenderer::getNodePose ( const std::string &  name)
virtual

Get the pose of a Panda node, in world frame in the ViSP convention (Y-down right handed).

Parameters
nameNode path to search for.
See also
setNodePose(const std::string &, const vpHomogeneousMatrix &) for more info
Returns
wTo, the pose of the object in world frame
Exceptions
ifno node can be found from the given path.

Reimplemented in vpPanda3DRendererSet.

Definition at line 173 of file vpPanda3DBaseRenderer.cpp.

References vpException::badValue, and m_renderRoot.

Referenced by computeNearAndFarPlanesFromNode(), and getCameraPose().

◆ getNodePose() [2/2]

vpHomogeneousMatrix vpPanda3DBaseRenderer::getNodePose ( NodePath &  object)
virtual

Get the pose of a Panda node, in world frame in the ViSP convention (Y-down right handed). This version of the method directly uses the Panda Nodepath.

Reimplemented in vpPanda3DRendererSet.

Definition at line 182 of file vpPanda3DBaseRenderer.cpp.

References PANDA_T_VISP.

◆ getRenderOrder()

int vpPanda3DBaseRenderer::getRenderOrder ( ) const
inline

Get the rendering order of this renderer. If a renderer A has a lower order value than B, it will be rendered before B. This is useful, if for instance, B is a postprocessing filter that depends on the result of B.

Returns
int

Definition at line 123 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DPostProcessFilter::vpPanda3DPostProcessFilter().

◆ getRenderRoot()

NodePath& vpPanda3DBaseRenderer::getRenderRoot ( )
inline

Get the scene root.

Definition at line 100 of file vpPanda3DBaseRenderer.h.

◆ initFramework()

void vpPanda3DBaseRenderer::initFramework ( )
virtual

Initialize the whole Panda3D framework. Create a new PandaFramework object and a new window.

Will also perform the renderer setup (scene, camera and render targets)

Reimplemented in vpPanda3DRendererSet.

Definition at line 51 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DRenderParameters::getImageHeight(), vpPanda3DRenderParameters::getImageWidth(), m_framework, m_renderParameters, m_window, vpException::notImplementedError, vpException::notInitialized, setupCamera(), setupRenderTarget(), and setupScene().

◆ initFromParent() [1/2]

void vpPanda3DBaseRenderer::initFromParent ( const vpPanda3DBaseRenderer &  renderer)
virtual

Reimplemented in vpPanda3DRendererSet.

Definition at line 88 of file vpPanda3DBaseRenderer.cpp.

References initFromParent(), m_framework, and m_window.

◆ initFromParent() [2/2]

void vpPanda3DBaseRenderer::initFromParent ( std::shared_ptr< PandaFramework >  framework,
PointerTo< WindowFramework >  window 
)
virtual

Reimplemented in vpPanda3DRendererSet.

Definition at line 79 of file vpPanda3DBaseRenderer.cpp.

References m_framework, m_window, setupCamera(), setupRenderTarget(), and setupScene().

Referenced by initFromParent(), and vpPanda3DRendererSet::initFromParent().

◆ isRendering3DScene()

virtual bool vpPanda3DBaseRenderer::isRendering3DScene ( ) const
inlinevirtual

Returns true if this renderer process 3D data and its scene root can be interacted with.

This value could be false, if for instance it is redefined in a subclass that performs postprocessing on a texture.

Reimplemented in vpPanda3DPostProcessFilter.

Definition at line 114 of file vpPanda3DBaseRenderer.h.

Referenced by enableSharedDepthBuffer(), vpPanda3DRendererSet::getCameraPose(), and vpPanda3DRendererSet::getNodePose().

◆ loadObject()

NodePath vpPanda3DBaseRenderer::loadObject ( const std::string &  nodeName,
const std::string &  modelPath 
)

Load a 3D object. To load an .obj file, Panda3D must be compiled with assimp support.

Once loaded, the object will not be visible, it should be added to the scene.

Parameters
nodeNamethe name that will be used when inserting the node in the scene graph
modelPathPath to the model file
Returns
NodePath The NodePath containing the 3D model, which can now be added to the scene graph.

Definition at line 274 of file vpPanda3DBaseRenderer.cpp.

References m_framework, and m_window.

◆ printStructure()

void vpPanda3DBaseRenderer::printStructure ( )

Definition at line 330 of file vpPanda3DBaseRenderer.cpp.

References m_renderRoot.

◆ renderFrame()

void vpPanda3DBaseRenderer::renderFrame ( )
virtual

Definition at line 109 of file vpPanda3DBaseRenderer.cpp.

References afterFrameRendered(), beforeFrameRendered(), and m_framework.

◆ setAbortOnPandaError()

void vpPanda3DBaseRenderer::setAbortOnPandaError ( bool  abort)

Set the behaviour when a Panda3D assertion fails. If abort is true, the program will stop. Otherwise, an error will be displayed in the console.

Parameters
abortwhether to abort (true) or display a message when an assertion fails.

Definition at line 302 of file vpPanda3DBaseRenderer.cpp.

◆ setCameraPose()

void vpPanda3DBaseRenderer::setCameraPose ( const vpHomogeneousMatrix &  wTc)
virtual

Set the camera's pose. The pose is specified using the ViSP convention (Y-down right handed).

Parameters
wTcthe new pose of the camera, in world frame

Reimplemented in vpPanda3DRendererSet.

Definition at line 142 of file vpPanda3DBaseRenderer.cpp.

References m_camera, m_cameraPath, vpException::notInitialized, and setNodePose().

◆ setName()

void vpPanda3DBaseRenderer::setName ( const std::string &  name)
inline

Definition at line 94 of file vpPanda3DBaseRenderer.h.

◆ setNodePose() [1/2]

void vpPanda3DBaseRenderer::setNodePose ( const std::string &  name,
const vpHomogeneousMatrix &  wTo 
)
virtual

Set the pose of a node. This node can be any Panda object (light, mesh, camera). The pose is specified using the ViSP convention (Y-down right handed).

Parameters
nameNode path to search for, from the render root. This is the object that will be modified See https://docs.panda3d.org/1.10/python/programming/scene-graph/searching-scene-graph
wToPose of the object in the world frame
Exceptions
ifthe corresponding node cannot be found.

Reimplemented in vpPanda3DRendererSet.

Definition at line 158 of file vpPanda3DBaseRenderer.cpp.

References m_renderRoot.

Referenced by addNodeToScene(), vpPanda3DRGBRenderer::addNodeToScene(), and setCameraPose().

◆ setNodePose() [2/2]

void vpPanda3DBaseRenderer::setNodePose ( NodePath &  object,
const vpHomogeneousMatrix &  wTo 
)
virtual

Set the pose of a node. The pose is specified using the ViSP convention (Y-down right handed). This node can be any Panda object (light, mesh, camera).

Parameters
objectThe object for which to set the pose
wToPose of the object in the world frame

Reimplemented in vpPanda3DRendererSet.

Definition at line 164 of file vpPanda3DBaseRenderer.cpp.

References vpHomogeneousMatrix::getRotationMatrix(), vpHomogeneousMatrix::getTranslationVector(), VISP_T_PANDA, vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), and vpQuaternionVector::z().

◆ setRenderOrder()

void vpPanda3DBaseRenderer::setRenderOrder ( int  order)
inline

Definition at line 125 of file vpPanda3DBaseRenderer.h.

◆ setRenderParameters()

void vpPanda3DBaseRenderer::setRenderParameters ( const vpPanda3DRenderParameters &  params)
virtual

Set new rendering parameters. If the scene has already been initialized, the renderer camera is updated.

Parameters
paramsthe new rendering parameters

Reimplemented in vpPanda3DRendererSet, and vpPanda3DPostProcessFilter.

Definition at line 116 of file vpPanda3DBaseRenderer.cpp.

References vpException::fatalError, vpPanda3DRenderParameters::getImageHeight(), vpPanda3DRenderParameters::getImageWidth(), m_buffers, m_camera, m_renderParameters, and vpPanda3DRenderParameters::setupPandaCamera().

◆ setupCamera()

void vpPanda3DBaseRenderer::setupCamera ( )
protectedvirtual

Initialize camera. Should be called when the scene root of this render has already been created.

Reimplemented in vpPanda3DRendererSet, and vpPanda3DPostProcessFilter.

Definition at line 99 of file vpPanda3DBaseRenderer.cpp.

References m_camera, m_cameraPath, m_renderParameters, m_renderRoot, m_window, and vpPanda3DRenderParameters::setupPandaCamera().

Referenced by initFramework(), and initFromParent().

◆ setupRenderTarget()

virtual void vpPanda3DBaseRenderer::setupRenderTarget ( )
inlineprotectedvirtual

Initialize buffers and other objects that are required to save the render.

Reimplemented in vpPanda3DRGBRenderer, vpPanda3DPostProcessFilter, and vpPanda3DGeometryRenderer.

Definition at line 265 of file vpPanda3DBaseRenderer.h.

Referenced by initFramework(), and initFromParent().

◆ setupScene()

void vpPanda3DBaseRenderer::setupScene ( )
protectedvirtual

Initialize the scene for this specific renderer.

Creates a root scene for this node and applies shaders. that will be used for rendering

Reimplemented in vpPanda3DRGBRenderer, vpPanda3DRendererSet, vpPanda3DPostProcessFilter, vpPanda3DGeometryRenderer, and vpPanda3DCanny.

Definition at line 93 of file vpPanda3DBaseRenderer.cpp.

References m_name, m_renderRoot, and m_window.

Referenced by initFramework(), initFromParent(), and vpPanda3DRGBRenderer::setupScene().

◆ setVerticalSyncEnabled()

void vpPanda3DBaseRenderer::setVerticalSyncEnabled ( bool  useVsync)

set whether vertical sync is enabled. When vertical sync is enabled, render speed will be limited by the display's refresh rate

Parameters
useVsyncWhether to use vsync or not

Definition at line 293 of file vpPanda3DBaseRenderer.cpp.

◆ vispPointToPanda()

vpColVector vpPanda3DBaseRenderer::vispPointToPanda ( const vpColVector &  point)
static

Definition at line 318 of file vpPanda3DBaseRenderer.cpp.

References PANDA_T_VISP.

◆ vispVectorToPanda()

vpColVector vpPanda3DBaseRenderer::vispVectorToPanda ( const vpColVector &  vec)
static

Definition at line 324 of file vpPanda3DBaseRenderer.cpp.

References vpHomogeneousMatrix::getRotationMatrix(), and PANDA_T_VISP.

Referenced by vpPanda3DDirectionalLight::addToScene().

Member Data Documentation

◆ m_buffers

std::vector<GraphicsOutput *> vpPanda3DBaseRenderer::m_buffers
protected

NodePath of the camera.

Definition at line 279 of file vpPanda3DBaseRenderer.h.

Referenced by setRenderParameters(), vpPanda3DPostProcessFilter::setRenderParameters(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), and vpPanda3DRGBRenderer::setupRenderTarget().

◆ m_camera

PointerTo<Camera> vpPanda3DBaseRenderer::m_camera
protected

Node containing all the objects and the camera for this renderer.

Definition at line 277 of file vpPanda3DBaseRenderer.h.

Referenced by computeNearAndFarPlanesFromNode(), getCameraPose(), setCameraPose(), setRenderParameters(), setupCamera(), and vpPanda3DPostProcessFilter::setupCamera().

◆ m_cameraPath

NodePath vpPanda3DBaseRenderer::m_cameraPath
protected

Definition at line 278 of file vpPanda3DBaseRenderer.h.

Referenced by computeNearAndFarPlanesFromNode(), getCameraPose(), setCameraPose(), setupCamera(), vpPanda3DPostProcessFilter::setupCamera(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), and vpPanda3DRGBRenderer::setupRenderTarget().

◆ m_framework

std::shared_ptr<PandaFramework> vpPanda3DBaseRenderer::m_framework
protected

Rendering priority for this renderer and its buffers. A lower value will be rendered first. Should be used when calling make_output in setupRenderTarget()

Definition at line 273 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DRendererSet::addSubRenderer(), initFramework(), vpPanda3DRendererSet::initFramework(), initFromParent(), vpPanda3DRendererSet::initFromParent(), loadObject(), and renderFrame().

◆ m_name

std::string vpPanda3DBaseRenderer::m_name
protected

Inverse of VISP_T_PANDA.

Definition at line 271 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DPostProcessFilter::setupRenderTarget(), setupScene(), and vpPanda3DGeometryRenderer::setupScene().

◆ m_renderOrder

int vpPanda3DBaseRenderer::m_renderOrder
protected

name of the renderer

Definition at line 272 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), and vpPanda3DRGBRenderer::setupRenderTarget().

◆ m_renderParameters

vpPanda3DRenderParameters vpPanda3DBaseRenderer::m_renderParameters
protected

Pointer to owning window, which can create buffers etc. It is not necessarily visible.

Definition at line 275 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DRendererSet::addSubRenderer(), vpPanda3DGeometryRenderer::getRender(), vpPanda3DPostProcessFilter::getRenderBasic(), initFramework(), vpPanda3DRendererSet::initFramework(), setRenderParameters(), vpPanda3DPostProcessFilter::setRenderParameters(), vpPanda3DRendererSet::setRenderParameters(), setupCamera(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), vpPanda3DRGBRenderer::setupRenderTarget(), and vpPanda3DRendererSet::vpPanda3DRendererSet().

◆ m_renderRoot

NodePath vpPanda3DBaseRenderer::m_renderRoot
protected

Rendering parameters.

Definition at line 276 of file vpPanda3DBaseRenderer.h.

Referenced by addNodeToScene(), vpPanda3DRGBRenderer::addNodeToScene(), computeNearAndFarPlanesFromNode(), getNodePose(), printStructure(), vpPanda3DCanny::setEdgeThreshold(), setNodePose(), vpPanda3DPostProcessFilter::setRenderParameters(), setupCamera(), vpPanda3DPostProcessFilter::setupCamera(), setupScene(), vpPanda3DCanny::setupScene(), vpPanda3DGeometryRenderer::setupScene(), vpPanda3DPostProcessFilter::setupScene(), and vpPanda3DRGBRenderer::setupScene().

◆ m_window

PointerTo<WindowFramework> vpPanda3DBaseRenderer::m_window
protected

Pointer to the active panda framework.

Definition at line 274 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DRendererSet::addSubRenderer(), initFramework(), vpPanda3DRendererSet::initFramework(), initFromParent(), vpPanda3DRendererSet::initFromParent(), loadObject(), vpPanda3DPostProcessFilter::setRenderParameters(), setupCamera(), vpPanda3DPostProcessFilter::setupCamera(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), vpPanda3DRGBRenderer::setupRenderTarget(), setupScene(), and vpPanda3DGeometryRenderer::setupScene().

◆ PANDA_T_VISP

const vpHomogeneousMatrix vpPanda3DBaseRenderer::PANDA_T_VISP
staticprotected

Homogeneous transformation matrix to convert from the Panda coordinate system (right-handed Z-up) to the ViSP coordinate system (right-handed Y-Down)

Definition at line 268 of file vpPanda3DBaseRenderer.h.

Referenced by computeNearAndFarPlanesFromNode(), getNodePose(), vispPointToPanda(), and vispVectorToPanda().

◆ VISP_T_PANDA

BEGIN_VISP_NAMESPACE const vpHomogeneousMatrix vpPanda3DBaseRenderer::VISP_T_PANDA
staticprotected

Definition at line 267 of file vpPanda3DBaseRenderer.h.

Referenced by setNodePose().