Visual Servoing Platform  version 3.6.1 under development (2024-12-13)
vpPanda3DGeometryRenderer.h
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30 
31 #ifndef VP_PANDA3D_GEOMETRY_RENDERER_H
32 #define VP_PANDA3D_GEOMETRY_RENDERER_H
33 
34 #include <visp3/core/vpConfig.h>
35 
36 #if defined(VISP_HAVE_PANDA3D)
37 #include <visp3/core/vpCameraParameters.h>
38 #include <visp3/core/vpImage.h>
39 #include <visp3/core/vpRect.h>
40 #include <visp3/ar/vpPanda3DBaseRenderer.h>
41 
42 BEGIN_VISP_NAMESPACE
54 {
55 public:
56 
58  {
61  };
62 
63  vpPanda3DGeometryRenderer(vpRenderType renderType);
65 
73  void getRender(vpImage<vpRGBf> &colorData, vpImage<float> &depth) const;
74 
75  void getRender(vpImage<vpRGBf> &normals, vpImage<float> &depth, const vpRect &bb, unsigned int h, unsigned w) const;
76 
81  void getRender(vpImage<vpRGBf> &colorData) const;
86  void getRender(vpImage<float> &depth) const;
87 
88  GraphicsOutput *getMainOutputBuffer() VP_OVERRIDE { return (GraphicsOutput *)m_normalDepthBuffer; }
89 
90 
91 protected:
92  void setupScene() VP_OVERRIDE;
93  void setupRenderTarget() VP_OVERRIDE;
94 
95 private:
96  vpRenderType m_renderType;
97  PointerTo<Texture> m_normalDepthTexture;
98  PointerTo<GraphicsOutput> m_normalDepthBuffer;
99 };
100 END_VISP_NAMESPACE
101 #endif //VISP_HAVE_PANDA3D
102 #endif
Definition of the vpImage class member functions.
Definition: vpImage.h:131
Base class for a panda3D renderer. This class handles basic functionalities, such as loading object,...
virtual void setupScene()
Initialize the scene for this specific renderer.
Renderer that outputs object geometric information.
~vpPanda3DGeometryRenderer()=default
GraphicsOutput * getMainOutputBuffer() VP_OVERRIDE
@ CAMERA_NORMALS
Surface normals in the object frame.
Defines a rectangle in the plane.
Definition: vpRect.h:79