#include <visp3/ar/vpPanda3DBaseRenderer.h>

Inheritance diagram for vpPanda3DBaseRenderer:

Public Member Functions
	vpPanda3DBaseRenderer (const std::string &rendererName)

virtual	~vpPanda3DBaseRenderer ()

virtual void	initFramework ()

virtual void	initFromParent (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 PointerTo< 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

PointerTo< WindowFramework >	m_window

vpPanda3DRenderParameters	m_renderParameters

NodePath	m_renderRoot

PointerTo< Camera >	m_camera

NodePath	m_cameraPath

std::vector< PointerTo< GraphicsOutput > >	m_buffers

bool	m_isWindowOwner

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 62 of file vpPanda3DBaseRenderer.h.

Constructor & Destructor Documentation

◆ vpPanda3DBaseRenderer()

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

inline

Definition at line 65 of file vpPanda3DBaseRenderer.h.

◆ ~vpPanda3DBaseRenderer()

vpPanda3DBaseRenderer::~vpPanda3DBaseRenderer ( )

virtual

Definition at line 58 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DFrameworkManager::getInstance(), m_buffers, m_isWindowOwner, m_window, and vpPanda3DFrameworkManager::registerDisabledWindow().

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 345 of file vpPanda3DBaseRenderer.cpp.

References m_renderRoot, and setNodePose().

◆ afterFrameRendered()

void vpPanda3DBaseRenderer::afterFrameRendered ( )

virtual

Reimplemented in vpPanda3DRendererSet, and vpPanda3DPostProcessFilter.

Definition at line 154 of file vpPanda3DBaseRenderer.cpp.

References getMainOutputBuffer().

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

◆ beforeFrameRendered()

virtual void vpPanda3DBaseRenderer::beforeFrameRendered ( )

inlinevirtual

Reimplemented in vpObjectCentricRenderer, and vpPanda3DRendererSet.

Definition at line 82 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

name	name of the node that should be used to compute near and far values.
near	resulting near clipping plane distance
far	resulting far clipping plane distance
fast	Whether 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 237 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 ( )

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 371 of file vpPanda3DBaseRenderer.cpp.

◆ enableSharedDepthBuffer()

void vpPanda3DBaseRenderer::enableSharedDepthBuffer ( vpPanda3DBaseRenderer & sourceBuffer )

virtual

Reimplemented in vpPanda3DRendererSet.

Definition at line 307 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 196 of file vpPanda3DBaseRenderer.cpp.

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

Referenced by computeNearAndFarPlanesFromNode().

◆ getMainOutputBuffer()

virtual PointerTo<GraphicsOutput> vpPanda3DBaseRenderer::getMainOutputBuffer ( )

inlinevirtual

Reimplemented in vpPanda3DRGBRenderer, vpPanda3DPostProcessFilter, and vpPanda3DGeometryRenderer.

Definition at line 233 of file vpPanda3DBaseRenderer.h.

Referenced by afterFrameRendered(), and enableSharedDepthBuffer().

◆ getName()

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

inline

Get the name of the renderer.

Returns: const std::string&

Definition at line 91 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

name	Node 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

if	no node can be found from the given path.

Reimplemented in vpPanda3DRendererSet.

Definition at line 219 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 228 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 122 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DPostProcessFilter::vpPanda3DPostProcessFilter().

◆ getRenderRoot()

NodePath& vpPanda3DBaseRenderer::getRenderRoot ( )

inline

Get the scene root.

Definition at line 99 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 79 of file vpPanda3DBaseRenderer.cpp.

References vpException::badValue, vpPanda3DFrameworkManager::getFramework(), vpPanda3DRenderParameters::getImageHeight(), vpPanda3DRenderParameters::getImageWidth(), vpPanda3DFrameworkManager::getInstance(), vpPanda3DFrameworkManager::initFramework(), m_isWindowOwner, m_renderParameters, m_window, vpException::notInitialized, setupCamera(), setupRenderTarget(), and setupScene().

◆ initFromParent() [1/2]

void vpPanda3DBaseRenderer::initFromParent ( const vpPanda3DBaseRenderer & renderer )

virtual

Reimplemented in vpPanda3DRendererSet.

Definition at line 122 of file vpPanda3DBaseRenderer.cpp.

References initFromParent(), m_isWindowOwner, and m_window.

◆ initFromParent() [2/2]

void vpPanda3DBaseRenderer::initFromParent ( PointerTo< WindowFramework > window )

virtual

Reimplemented in vpPanda3DRendererSet.

Definition at line 113 of file vpPanda3DBaseRenderer.cpp.

References m_isWindowOwner, 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 113 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

nodeName	the name that will be used when inserting the node in the scene graph
modelPath	Path to the model file

Returns: NodePath The NodePath containing the 3D model, which can now be added to the scene graph.

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 329 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DFrameworkManager::getFramework(), vpPanda3DFrameworkManager::getInstance(), vpException::ioError, and m_window.

Referenced by vpRBTracker::setupRenderer().

◆ printStructure()

void vpPanda3DBaseRenderer::printStructure ( )

Definition at line 389 of file vpPanda3DBaseRenderer.cpp.

References m_renderRoot.

◆ renderFrame()

void vpPanda3DBaseRenderer::renderFrame ( )

virtual

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 144 of file vpPanda3DBaseRenderer.cpp.

References afterFrameRendered(), beforeFrameRendered(), vpPanda3DFrameworkManager::disableAllOtherRenderers(), vpPanda3DFrameworkManager::enableAllRenderers(), vpPanda3DFrameworkManager::getInstance(), and m_window.

Referenced by vpRBTracker::updateRender().

◆ 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

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

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 361 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

wTc	the new pose of the camera, in world frame

Reimplemented in vpPanda3DRendererSet.

Definition at line 188 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 93 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

name	Node 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
wTo	Pose of the object in the world frame

Exceptions

if	the corresponding node cannot be found.

Reimplemented in vpPanda3DRendererSet.

Definition at line 204 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

object	The object for which to set the pose
wTo	Pose of the object in the world frame

Reimplemented in vpPanda3DRendererSet.

Definition at line 210 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 )

Definition at line 320 of file vpPanda3DBaseRenderer.cpp.

References m_buffers, and m_renderOrder.

◆ 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

params the new rendering parameters

Reimplemented in vpObjectCentricRenderer, vpPanda3DRendererSet, and vpPanda3DPostProcessFilter.

Definition at line 162 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 134 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 257 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 vpPanda3DDepthCannyFilter, vpPanda3DRGBRenderer, vpPanda3DRendererSet, vpPanda3DPostProcessFilter, vpPanda3DGeometryRenderer, and vpPanda3DCanny.

Definition at line 128 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

useVsync Whether to use vsync or not

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 352 of file vpPanda3DBaseRenderer.cpp.

◆ vispPointToPanda()

vpColVector vpPanda3DBaseRenderer::vispPointToPanda ( const vpColVector & point )

static

Definition at line 377 of file vpPanda3DBaseRenderer.cpp.

References PANDA_T_VISP.

◆ vispVectorToPanda()

vpColVector vpPanda3DBaseRenderer::vispVectorToPanda ( const vpColVector & vec )

static

Definition at line 383 of file vpPanda3DBaseRenderer.cpp.

References vpHomogeneousMatrix::getRotationMatrix(), and PANDA_T_VISP.

Referenced by vpPanda3DDirectionalLight::addToScene().

Member Data Documentation

◆ m_buffers

std::vector<PointerTo<GraphicsOutput> > vpPanda3DBaseRenderer::m_buffers

protected

NodePath of the camera.

Definition at line 270 of file vpPanda3DBaseRenderer.h.

Referenced by setRenderOrder(), setRenderParameters(), vpPanda3DPostProcessFilter::setRenderParameters(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), vpPanda3DRGBRenderer::setupRenderTarget(), and ~vpPanda3DBaseRenderer().

◆ m_camera

PointerTo<Camera> vpPanda3DBaseRenderer::m_camera

protected

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

Definition at line 268 of file vpPanda3DBaseRenderer.h.

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

◆ m_cameraPath

NodePath vpPanda3DBaseRenderer::m_cameraPath

protected

Definition at line 269 of file vpPanda3DBaseRenderer.h.

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

◆ m_isWindowOwner

bool vpPanda3DBaseRenderer::m_isWindowOwner

protected

Set of buffers that this renderer uses. This storage contains weak refs to those buffers and should not deallocate them.

Definition at line 271 of file vpPanda3DBaseRenderer.h.

Referenced by initFramework(), vpPanda3DRendererSet::initFramework(), initFromParent(), and ~vpPanda3DBaseRenderer().

◆ m_name

std::string vpPanda3DBaseRenderer::m_name

protected

Inverse of VISP_T_PANDA.

Definition at line 263 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 264 of file vpPanda3DBaseRenderer.h.

Referenced by setRenderOrder(), 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 266 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DRendererSet::addSubRenderer(), vpObjectCentricRenderer::beforeFrameRendered(), vpObjectCentricRenderer::computeBoundingBox(), vpPanda3DDepthCannyFilter::getRender(), vpPanda3DGeometryRenderer::getRender(), vpPanda3DPostProcessFilter::getRenderBasic(), initFramework(), vpPanda3DRendererSet::initFramework(), setRenderParameters(), vpPanda3DPostProcessFilter::setRenderParameters(), vpPanda3DRendererSet::setRenderParameters(), setupCamera(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), vpPanda3DRGBRenderer::setupRenderTarget(), vpObjectCentricRenderer::vpObjectCentricRenderer(), and vpPanda3DRendererSet::vpPanda3DRendererSet().

◆ m_renderRoot

NodePath vpPanda3DBaseRenderer::m_renderRoot

protected

Rendering parameters.

Definition at line 267 of file vpPanda3DBaseRenderer.h.

Referenced by addNodeToScene(), vpPanda3DRGBRenderer::addNodeToScene(), computeNearAndFarPlanesFromNode(), getNodePose(), printStructure(), vpPanda3DCanny::setEdgeThreshold(), vpPanda3DDepthCannyFilter::setEdgeThreshold(), setNodePose(), vpPanda3DPostProcessFilter::setRenderParameters(), setupCamera(), vpPanda3DPostProcessFilter::setupCamera(), setupScene(), vpPanda3DCanny::setupScene(), vpPanda3DGeometryRenderer::setupScene(), vpPanda3DPostProcessFilter::setupScene(), vpPanda3DRGBRenderer::setupScene(), and vpPanda3DDepthCannyFilter::setupScene().

◆ m_window

PointerTo<WindowFramework> vpPanda3DBaseRenderer::m_window

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 265 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DRendererSet::addSubRenderer(), initFramework(), vpPanda3DRendererSet::initFramework(), initFromParent(), vpPanda3DRendererSet::initFromParent(), loadObject(), renderFrame(), vpPanda3DPostProcessFilter::setRenderParameters(), setupCamera(), vpPanda3DPostProcessFilter::setupCamera(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), vpPanda3DRGBRenderer::setupRenderTarget(), setupScene(), vpPanda3DGeometryRenderer::setupScene(), and ~vpPanda3DBaseRenderer().

◆ 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 260 of file vpPanda3DBaseRenderer.h.

Referenced by vpObjectCentricRenderer::computeBoundingBox(), vpObjectCentricRenderer::computeClipping(), computeNearAndFarPlanesFromNode(), getNodePose(), vispPointToPanda(), and vispVectorToPanda().

◆ VISP_T_PANDA

BEGIN_VISP_NAMESPACE const vpHomogeneousMatrix vpPanda3DBaseRenderer::VISP_T_PANDA

staticprotected

Definition at line 259 of file vpPanda3DBaseRenderer.h.

Referenced by setNodePose().

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpPanda3DBaseRenderer()

◆ ~vpPanda3DBaseRenderer()

Member Function Documentation

◆ addNodeToScene()

◆ afterFrameRendered()

◆ beforeFrameRendered()

◆ computeNearAndFarPlanesFromNode()

◆ enableDebugLog()

◆ enableSharedDepthBuffer()

◆ getCameraPose()

◆ getMainOutputBuffer()

◆ getName()

◆ getNodePose() [1/2]

◆ getNodePose() [2/2]

◆ getRenderOrder()

◆ getRenderRoot()

◆ initFramework()

◆ initFromParent() [1/2]

◆ initFromParent() [2/2]

◆ isRendering3DScene()

◆ loadObject()

◆ printStructure()

◆ renderFrame()

◆ setAbortOnPandaError()

◆ setCameraPose()

◆ setName()

◆ setNodePose() [1/2]

◆ setNodePose() [2/2]

◆ setRenderOrder()

◆ setRenderParameters()

◆ setupCamera()

◆ setupRenderTarget()

◆ setupScene()

◆ setVerticalSyncEnabled()

◆ vispPointToPanda()

◆ vispVectorToPanda()

Member Data Documentation

◆ m_buffers

◆ m_camera

◆ m_cameraPath

◆ m_isWindowOwner

◆ m_name

◆ m_renderOrder

◆ m_renderParameters

◆ m_renderRoot

◆ m_window

◆ PANDA_T_VISP

◆ VISP_T_PANDA