#include <visp3/ar/vpPanda3DRGBRenderer.h>

Inheritance diagram for vpPanda3DRGBRenderer:

Public Member Functions
	vpPanda3DRGBRenderer ()

	vpPanda3DRGBRenderer (bool showSpeculars)

void	getRender (vpImage< vpRGBa > &I) const

void	addNodeToScene (const NodePath &object) VP_OVERRIDE

void	setBackgroundImage (const vpImage< vpRGBa > &background)

PointerTo< GraphicsOutput >	getMainOutputBuffer () VP_OVERRIDE

bool	isShowingSpeculars () const

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)

void	setVerticalSyncEnabled (bool useVsync)

void	setAbortOnPandaError (bool abort)

void	enableDebugLog ()

void	printStructure ()

virtual void	enableSharedDepthBuffer (vpPanda3DBaseRenderer &sourceBuffer)

void	addLight (const vpPanda3DLight &light) VP_OVERRIDE

Static Public Member Functions
static vpColVector	vispPointToPanda (const vpColVector &point)

static vpColVector	vispVectorToPanda (const vpColVector &vec)

Protected Member Functions
void	setupScene () VP_OVERRIDE

void	setupRenderTarget () VP_OVERRIDE

virtual std::string	makeFragmentShader (bool hasTexture, bool specular)

virtual void	setupCamera ()

void	setLightableScene (NodePath &scene)

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

Implementation of a traditional RGB renderer in Panda3D.

The lighting model follows a Cook-torrance BRDF.

For each object, a specific Version of the cook-torrance shader is compiled: diffuse textures are supported, but normal/bump/roughness maps are not. This class will try to automatically detect whether an object has RGB textures.

Specular highlights and reflections can be ignored, depending on the value of isShowingSpeculars.

Warning: if an object is detected as having image textures but it actually doesn't have any, the object may appear washed out.

Note

Most of the tested objects were in BAM format, Panda3D's own format. The following pipeline was used:

Export to GLTF with Blender
In a Python environment, install gltf2bam with pip install panda3d-gltf
run gltf2bam path/to/yourObject.gltf path/to/yourObject.bam
then, in the code, use renderer.addNodeToScene("/path/to/yourObject.bam");

Examples: catchPanda.cpp, and tutorial-panda3d-renderer.cpp.

Definition at line 66 of file vpPanda3DRGBRenderer.h.

Constructor & Destructor Documentation

◆ vpPanda3DRGBRenderer() [1/2]

vpPanda3DRGBRenderer::vpPanda3DRGBRenderer ( )

inline

Default constructor. Initialize an RGB renderer with the normal rendering behavior showing speculars.

Definition at line 73 of file vpPanda3DRGBRenderer.h.

◆ vpPanda3DRGBRenderer() [2/2]

vpPanda3DRGBRenderer::vpPanda3DRGBRenderer ( bool showSpeculars )

inline

RGB renderer constructor allowing to specify whether specular highlights should be rendered or if only ambient/diffuse lighting should be considered.

Parameters

showSpeculars whether to render speculars

Definition at line 81 of file vpPanda3DRGBRenderer.h.

Member Function Documentation

◆ addLight()

void vpPanda3DLightableScene::addLight ( const vpPanda3DLight & light )

inlinevirtualinherited

Add a light to the scene. All of the objects in the scene will be lit.

Exceptions

if	the scene is not setup (setLightableScene or constructor with NodePath has not been called)

Parameters

light light to add

Implements vpPanda3DLightable.

Definition at line 258 of file vpPanda3DLight.h.

References vpException::notInitialized.

◆ addNodeToScene()

void vpPanda3DRGBRenderer::addNodeToScene ( const NodePath & object )

virtual

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

Parameters

object

Reimplemented from vpPanda3DBaseRenderer.

Definition at line 190 of file vpPanda3DRGBRenderer.cpp.

References vpPanda3DBaseRenderer::m_renderRoot, makeFragmentShader(), and vpPanda3DBaseRenderer::setNodePose().

◆ afterFrameRendered()

void vpPanda3DBaseRenderer::afterFrameRendered ( )

virtualinherited

Reimplemented in vpPanda3DRendererSet, and vpPanda3DPostProcessFilter.

Definition at line 154 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DBaseRenderer::getMainOutputBuffer().

Referenced by vpPanda3DPostProcessFilter::afterFrameRendered(), and vpPanda3DBaseRenderer::renderFrame().

◆ beforeFrameRendered()

virtual void vpPanda3DBaseRenderer::beforeFrameRendered ( )

inlinevirtualinherited

Reimplemented in vpObjectCentricRenderer, and vpPanda3DRendererSet.

Definition at line 82 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DBaseRenderer::renderFrame().

◆ computeNearAndFarPlanesFromNode()

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

inherited

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, vpPanda3DBaseRenderer::getCameraPose(), vpPanda3DBaseRenderer::getNodePose(), vpHomogeneousMatrix::inverse(), vpPanda3DBaseRenderer::m_camera, vpPanda3DBaseRenderer::m_cameraPath, vpPanda3DBaseRenderer::m_renderRoot, vpException::notInitialized, and vpPanda3DBaseRenderer::PANDA_T_VISP.

◆ enableDebugLog()

void vpPanda3DBaseRenderer::enableDebugLog ( )

inherited

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 371 of file vpPanda3DBaseRenderer.cpp.

◆ enableSharedDepthBuffer()

void vpPanda3DBaseRenderer::enableSharedDepthBuffer ( vpPanda3DBaseRenderer & sourceBuffer )

virtualinherited

Reimplemented in vpPanda3DRendererSet.

Definition at line 307 of file vpPanda3DBaseRenderer.cpp.

References vpException::fatalError, vpPanda3DBaseRenderer::getMainOutputBuffer(), and vpPanda3DBaseRenderer::isRendering3DScene().

◆ getCameraPose()

vpHomogeneousMatrix vpPanda3DBaseRenderer::getCameraPose ( )

virtualinherited

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 vpPanda3DBaseRenderer::getNodePose(), vpPanda3DBaseRenderer::m_camera, vpPanda3DBaseRenderer::m_cameraPath, and vpException::notInitialized.

Referenced by vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode().

◆ getMainOutputBuffer()

PointerTo<GraphicsOutput> vpPanda3DRGBRenderer::getMainOutputBuffer ( )

inlinevirtual

Reimplemented from vpPanda3DBaseRenderer.

Definition at line 97 of file vpPanda3DRGBRenderer.h.

◆ getName()

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

inlineinherited

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 )

virtualinherited

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 vpPanda3DBaseRenderer::m_renderRoot.

Referenced by vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode(), and vpPanda3DBaseRenderer::getCameraPose().

◆ getNodePose() [2/2]

vpHomogeneousMatrix vpPanda3DBaseRenderer::getNodePose ( NodePath & object )

virtualinherited

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 vpPanda3DBaseRenderer::PANDA_T_VISP.

◆ getRender()

void vpPanda3DRGBRenderer::getRender ( vpImage< vpRGBa > & I ) const

Store the render resulting from calling renderFrame() into a vpImage.

If the image does not have the correct dimensions, it is resized.

Parameters

I	The image in which to store the render.

Definition at line 256 of file vpPanda3DRGBRenderer.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

◆ getRenderOrder()

int vpPanda3DBaseRenderer::getRenderOrder ( ) const

inlineinherited

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 ( )

inlineinherited

Get the scene root.

Definition at line 99 of file vpPanda3DBaseRenderer.h.

◆ initFramework()

void vpPanda3DBaseRenderer::initFramework ( )

virtualinherited

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(), vpPanda3DBaseRenderer::m_isWindowOwner, vpPanda3DBaseRenderer::m_renderParameters, vpPanda3DBaseRenderer::m_window, vpException::notInitialized, vpPanda3DBaseRenderer::setupCamera(), vpPanda3DBaseRenderer::setupRenderTarget(), and vpPanda3DBaseRenderer::setupScene().

◆ initFromParent() [1/2]

void vpPanda3DBaseRenderer::initFromParent ( const vpPanda3DBaseRenderer & renderer )

virtualinherited

Reimplemented in vpPanda3DRendererSet.

Definition at line 122 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DBaseRenderer::initFromParent(), vpPanda3DBaseRenderer::m_isWindowOwner, and vpPanda3DBaseRenderer::m_window.

◆ initFromParent() [2/2]

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

virtualinherited

Reimplemented in vpPanda3DRendererSet.

Definition at line 113 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DBaseRenderer::m_isWindowOwner, vpPanda3DBaseRenderer::m_window, vpPanda3DBaseRenderer::setupCamera(), vpPanda3DBaseRenderer::setupRenderTarget(), and vpPanda3DBaseRenderer::setupScene().

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

◆ isRendering3DScene()

virtual bool vpPanda3DBaseRenderer::isRendering3DScene ( ) const

inlinevirtualinherited

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 vpPanda3DBaseRenderer::enableSharedDepthBuffer(), vpPanda3DRendererSet::getCameraPose(), and vpPanda3DRendererSet::getNodePose().

◆ isShowingSpeculars()

bool vpPanda3DRGBRenderer::isShowingSpeculars ( ) const

inline

Definition at line 99 of file vpPanda3DRGBRenderer.h.

◆ loadObject()

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

inherited

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 vpPanda3DBaseRenderer::m_window.

Referenced by vpRBTracker::setupRenderer().

◆ makeFragmentShader()

std::string vpPanda3DRGBRenderer::makeFragmentShader	(	bool	hasTexture,
		bool	specular
	)

protectedvirtual

Definition at line 173 of file vpPanda3DRGBRenderer.cpp.

Referenced by addNodeToScene().

◆ printStructure()

void vpPanda3DBaseRenderer::printStructure ( )

inherited

Definition at line 389 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DBaseRenderer::m_renderRoot.

◆ renderFrame()

void vpPanda3DBaseRenderer::renderFrame ( )

virtualinherited

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 144 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DBaseRenderer::afterFrameRendered(), vpPanda3DBaseRenderer::beforeFrameRendered(), vpPanda3DFrameworkManager::disableAllOtherRenderers(), vpPanda3DFrameworkManager::enableAllRenderers(), vpPanda3DFrameworkManager::getInstance(), and vpPanda3DBaseRenderer::m_window.

Referenced by vpRBTracker::updateRender().

◆ setAbortOnPandaError()

void vpPanda3DBaseRenderer::setAbortOnPandaError ( bool abort )

inherited

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.

◆ setBackgroundImage()

void vpPanda3DRGBRenderer::setBackgroundImage ( const vpImage< vpRGBa > & background )

Definition at line 215 of file vpPanda3DRGBRenderer.cpp.

References vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

◆ setCameraPose()

void vpPanda3DBaseRenderer::setCameraPose ( const vpHomogeneousMatrix & wTc )

virtualinherited

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 vpPanda3DBaseRenderer::m_camera, vpPanda3DBaseRenderer::m_cameraPath, vpException::notInitialized, and vpPanda3DBaseRenderer::setNodePose().

◆ setLightableScene()

void vpPanda3DLightableScene::setLightableScene ( NodePath & scene )

inlineprotectedinherited

Definition at line 266 of file vpPanda3DLight.h.

Referenced by setupScene().

◆ setName()

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

inlineinherited

Definition at line 93 of file vpPanda3DBaseRenderer.h.

◆ setNodePose() [1/2]

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

virtualinherited

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 vpPanda3DBaseRenderer::m_renderRoot.

Referenced by vpPanda3DBaseRenderer::addNodeToScene(), addNodeToScene(), and vpPanda3DBaseRenderer::setCameraPose().

◆ setNodePose() [2/2]

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

virtualinherited

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(), vpPanda3DBaseRenderer::VISP_T_PANDA, vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), and vpQuaternionVector::z().

◆ setRenderOrder()

void vpPanda3DBaseRenderer::setRenderOrder ( int order )

inherited

Definition at line 320 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DBaseRenderer::m_buffers, and vpPanda3DBaseRenderer::m_renderOrder.

◆ setRenderParameters()

void vpPanda3DBaseRenderer::setRenderParameters ( const vpPanda3DRenderParameters & params )

virtualinherited

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(), vpPanda3DBaseRenderer::m_buffers, vpPanda3DBaseRenderer::m_camera, vpPanda3DBaseRenderer::m_renderParameters, and vpPanda3DRenderParameters::setupPandaCamera().

◆ setupCamera()

void vpPanda3DBaseRenderer::setupCamera ( )

protectedvirtualinherited

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 vpPanda3DBaseRenderer::m_camera, vpPanda3DBaseRenderer::m_cameraPath, vpPanda3DBaseRenderer::m_renderParameters, vpPanda3DBaseRenderer::m_renderRoot, vpPanda3DBaseRenderer::m_window, and vpPanda3DRenderParameters::setupPandaCamera().

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

◆ setupRenderTarget()

void vpPanda3DRGBRenderer::setupRenderTarget ( )

protectedvirtual

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

Reimplemented from vpPanda3DBaseRenderer.

Definition at line 288 of file vpPanda3DRGBRenderer.cpp.

References vpException::fatalError, vpPanda3DRenderParameters::getImageHeight(), vpPanda3DRenderParameters::getImageWidth(), vpPanda3DBaseRenderer::m_buffers, vpPanda3DBaseRenderer::m_cameraPath, vpPanda3DBaseRenderer::m_renderOrder, vpPanda3DBaseRenderer::m_renderParameters, and vpPanda3DBaseRenderer::m_window.

◆ setupScene()

void vpPanda3DRGBRenderer::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 from vpPanda3DBaseRenderer.

Definition at line 282 of file vpPanda3DRGBRenderer.cpp.

References vpPanda3DBaseRenderer::m_renderRoot, vpPanda3DLightableScene::setLightableScene(), and vpPanda3DBaseRenderer::setupScene().

◆ setVerticalSyncEnabled()

void vpPanda3DBaseRenderer::setVerticalSyncEnabled ( bool useVsync )

inherited

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 )

staticinherited

Definition at line 377 of file vpPanda3DBaseRenderer.cpp.

References vpPanda3DBaseRenderer::PANDA_T_VISP.

◆ vispVectorToPanda()

vpColVector vpPanda3DBaseRenderer::vispVectorToPanda ( const vpColVector & vec )

staticinherited

Definition at line 383 of file vpPanda3DBaseRenderer.cpp.

References vpHomogeneousMatrix::getRotationMatrix(), and vpPanda3DBaseRenderer::PANDA_T_VISP.

Referenced by vpPanda3DDirectionalLight::addToScene().

Member Data Documentation

◆ m_buffers

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

protectedinherited

NodePath of the camera.

Definition at line 270 of file vpPanda3DBaseRenderer.h.

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

◆ m_camera

PointerTo<Camera> vpPanda3DBaseRenderer::m_camera

protectedinherited

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

Definition at line 268 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode(), vpPanda3DBaseRenderer::getCameraPose(), vpPanda3DBaseRenderer::setCameraPose(), vpPanda3DBaseRenderer::setRenderParameters(), vpPanda3DBaseRenderer::setupCamera(), and vpPanda3DPostProcessFilter::setupCamera().

◆ m_cameraPath

NodePath vpPanda3DBaseRenderer::m_cameraPath

protectedinherited

Definition at line 269 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode(), vpPanda3DBaseRenderer::getCameraPose(), vpPanda3DBaseRenderer::setCameraPose(), vpPanda3DBaseRenderer::setupCamera(), vpPanda3DPostProcessFilter::setupCamera(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), and setupRenderTarget().

◆ m_isWindowOwner

bool vpPanda3DBaseRenderer::m_isWindowOwner

protectedinherited

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

◆ m_name

std::string vpPanda3DBaseRenderer::m_name

protectedinherited

Inverse of VISP_T_PANDA.

Definition at line 263 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DPostProcessFilter::setupRenderTarget(), vpPanda3DBaseRenderer::setupScene(), and vpPanda3DGeometryRenderer::setupScene().

◆ m_renderOrder

int vpPanda3DBaseRenderer::m_renderOrder

protectedinherited

name of the renderer

Definition at line 264 of file vpPanda3DBaseRenderer.h.

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

◆ m_renderParameters

vpPanda3DRenderParameters vpPanda3DBaseRenderer::m_renderParameters

protectedinherited

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(), vpPanda3DBaseRenderer::initFramework(), vpPanda3DRendererSet::initFramework(), vpPanda3DBaseRenderer::setRenderParameters(), vpPanda3DPostProcessFilter::setRenderParameters(), vpPanda3DRendererSet::setRenderParameters(), vpPanda3DBaseRenderer::setupCamera(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), setupRenderTarget(), vpObjectCentricRenderer::vpObjectCentricRenderer(), and vpPanda3DRendererSet::vpPanda3DRendererSet().

◆ m_renderRoot

NodePath vpPanda3DBaseRenderer::m_renderRoot

protectedinherited

Rendering parameters.

Definition at line 267 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DBaseRenderer::addNodeToScene(), addNodeToScene(), vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode(), vpPanda3DBaseRenderer::getNodePose(), vpPanda3DBaseRenderer::printStructure(), vpPanda3DCanny::setEdgeThreshold(), vpPanda3DDepthCannyFilter::setEdgeThreshold(), vpPanda3DBaseRenderer::setNodePose(), vpPanda3DPostProcessFilter::setRenderParameters(), vpPanda3DBaseRenderer::setupCamera(), vpPanda3DPostProcessFilter::setupCamera(), vpPanda3DBaseRenderer::setupScene(), vpPanda3DCanny::setupScene(), vpPanda3DGeometryRenderer::setupScene(), vpPanda3DPostProcessFilter::setupScene(), setupScene(), and vpPanda3DDepthCannyFilter::setupScene().

◆ m_window

PointerTo<WindowFramework> vpPanda3DBaseRenderer::m_window

protectedinherited

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

◆ PANDA_T_VISP

const vpHomogeneousMatrix vpPanda3DBaseRenderer::PANDA_T_VISP

staticprotectedinherited

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(), vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode(), vpPanda3DBaseRenderer::getNodePose(), vpPanda3DBaseRenderer::vispPointToPanda(), and vpPanda3DBaseRenderer::vispVectorToPanda().

◆ VISP_T_PANDA

BEGIN_VISP_NAMESPACE const vpHomogeneousMatrix vpPanda3DBaseRenderer::VISP_T_PANDA

staticprotectedinherited

Definition at line 259 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DBaseRenderer::setNodePose().

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpPanda3DRGBRenderer() [1/2]

◆ vpPanda3DRGBRenderer() [2/2]

Member Function Documentation

◆ addLight()

◆ addNodeToScene()

◆ afterFrameRendered()

◆ beforeFrameRendered()

◆ computeNearAndFarPlanesFromNode()

◆ enableDebugLog()

◆ enableSharedDepthBuffer()

◆ getCameraPose()

◆ getMainOutputBuffer()

◆ getName()

◆ getNodePose() [1/2]

◆ getNodePose() [2/2]

◆ getRender()

◆ getRenderOrder()

◆ getRenderRoot()

◆ initFramework()

◆ initFromParent() [1/2]

◆ initFromParent() [2/2]

◆ isRendering3DScene()

◆ isShowingSpeculars()

◆ loadObject()

◆ makeFragmentShader()

◆ printStructure()

◆ renderFrame()

◆ setAbortOnPandaError()

◆ setBackgroundImage()

◆ setCameraPose()

◆ setLightableScene()

◆ 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