Visual Servoing Platform  version 3.6.1 under development (2024-12-13)
vpPanda3DRGBRenderer.h
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30 
31 #ifndef VP_PANDA3D_RGB_RENDERER_H
32 #define VP_PANDA3D_RGB_RENDERER_H
33 
34 #include <visp3/core/vpConfig.h>
35 
36 #if defined(VISP_HAVE_PANDA3D)
37 
38 #include <visp3/ar/vpPanda3DBaseRenderer.h>
39 #include <visp3/ar/vpPanda3DLight.h>
40 #include <visp3/core/vpImage.h>
41 
42 #include "pointerTo.h"
43 
44 BEGIN_VISP_NAMESPACE
67 {
68 public:
73  vpPanda3DRGBRenderer() : vpPanda3DBaseRenderer("RGB"), m_showSpeculars(true), m_display2d(nullptr), m_backgroundTexture(nullptr) { }
81  vpPanda3DRGBRenderer(bool showSpeculars) : vpPanda3DBaseRenderer(showSpeculars ? "RGB" : "RGB-diffuse"), m_showSpeculars(showSpeculars) { }
82 
83  virtual ~vpPanda3DRGBRenderer() = default;
84 
92  void getRender(vpImage<vpRGBa> &I) const;
93 
94  void addNodeToScene(const NodePath &object) VP_OVERRIDE;
95 
96  void setBackgroundImage(const vpImage<vpRGBa> &background);
97 
98  GraphicsOutput *getMainOutputBuffer() VP_OVERRIDE { return (GraphicsOutput *)m_colorBuffer; }
99 
100  bool isShowingSpeculars() const { return m_showSpeculars; }
101 
102 protected:
103  void setupScene() VP_OVERRIDE;
104  void setupRenderTarget() VP_OVERRIDE;
105 
106  virtual std::string makeFragmentShader(bool hasTexture, bool specular);
107 
108 private:
109  bool m_showSpeculars;
110  PointerTo<Texture> m_colorTexture;
111  PointerTo<GraphicsOutput> m_colorBuffer;
112  static const char *COOK_TORRANCE_VERT;
113  static const char *COOK_TORRANCE_FRAG;
114 
115  NodePath m_backgroundImage;
116  PointerTo<DisplayRegion> m_display2d;
117  PointerTo<Texture> m_backgroundTexture;
118 };
119 
120 END_VISP_NAMESPACE
121 #endif //VISP_HAVE_PANDA3D
122 #endif
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.
virtual void addNodeToScene(const NodePath &object)
Add a node to the scene. Its pose is set as the identity matrix.
Implementation of vpPanda3DLightable for a panda scene with a root node.
Implementation of a traditional RGB renderer in Panda3D.
GraphicsOutput * getMainOutputBuffer() VP_OVERRIDE
vpPanda3DRGBRenderer()
Default constructor. Initialize an RGB renderer with the normal rendering behavior showing speculars.
virtual ~vpPanda3DRGBRenderer()=default
vpPanda3DRGBRenderer(bool showSpeculars)
RGB renderer constructor allowing to specify whether specular highlights should be rendered or if onl...