Panda3DGeometryRenderer¶

class Panda3DGeometryRenderer(self, renderType: visp._visp.ar.Panda3DGeometryRenderer.RenderType)¶

Bases: Panda3DBaseRenderer

Renderer that outputs object geometric information.

This information may contain, depending on requested render type:

Normals in the world frame or in the camera frame.
Depth information

Methods

`__init__`
`getRender`	Overloaded function.

Inherited Methods

`setAbortOnPandaError`	Set the behaviour when a Panda3D assertion fails.
`beforeFrameRendered`
`setName`
`setRenderOrder`
`getName`	Get the name of the renderer.
`enableSharedDepthBuffer`
`loadObject`	Load a 3D object.
`getNodePose`	Overloaded function.
`getCameraPose`	Retrieve the camera's pose, in the world frame.
`addNodeToScene`	Add a node to the scene.
`setCameraPose`	Set the camera's pose.
`initFramework`	Initialize the whole Panda3D framework.
`vispVectorToPanda`
`printStructure`
`initFromParent`	Overloaded function.
`afterFrameRendered`
`getRenderOrder`	Get the rendering order of this renderer.
`setVerticalSyncEnabled`	set whether vertical sync is enabled.
`vispPointToPanda`
`computeNearAndFarPlanesFromNode`	Compute the near and far planes for the camera at the current pose, given a certain node/part of the graph.
`enableDebugLog`
`getRenderRoot`	Get the scene root.
`isRendering3DScene`	Returns true if this renderer process 3D data and its scene root can be interacted with.
`setNodePose`	Overloaded function.
`renderFrame`
`setRenderParameters`	Set new rendering parameters.

Operators

`__doc__`
`__init__`
`__module__`

Attributes

`CAMERA_NORMALS`
`OBJECT_NORMALS`
`__annotations__`

class RenderType(self, value: int)¶

Bases: pybind11_object

Values:

OBJECT_NORMALS
CAMERA_NORMALS: Surface normals in the object frame.

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

__init__(self, renderType: visp._visp.ar.Panda3DGeometryRenderer.RenderType)¶

addNodeToScene(self, object: NodePath) → None¶

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

Parameters:

object: NodePath¶

afterFrameRendered(self) → None¶

beforeFrameRendered(self) → None¶

computeNearAndFarPlanesFromNode(self, name: str, near: float, far: float, fast: bool) → tuple[float, float]¶

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.

Warning

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: str¶: name of the node that should be used to compute near and far values.
near: float¶: resulting near clipping plane distance
far: float¶: resulting far clipping plane distance
fast: bool¶: 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

Returns:

A tuple containing:

near: resulting near clipping plane distance
far: resulting far clipping plane distance

enableDebugLog(self) → None¶

enableSharedDepthBuffer(self, sourceBuffer: visp._visp.ar.Panda3DBaseRenderer) → None¶

getCameraPose(self) → visp._visp.core.HomogeneousMatrix¶: Retrieve the camera’s pose, in the world frame. The pose is specified using the ViSP convention (Y-down right handed).

getName(self) → str¶

Get the name of the renderer.

Returns:: const std::string&

getNodePose(*args, **kwargs)¶

Overloaded function.

getNodePose(self: visp._visp.ar.Panda3DBaseRenderer, name: str) -> visp._visp.core.HomogeneousMatrix

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.

Returns:

wTo, the pose of the object in world frame

getNodePose(self: visp._visp.ar.Panda3DBaseRenderer, object: NodePath) -> visp._visp.core.HomogeneousMatrix

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.

getRender(*args, **kwargs)¶

Overloaded function.

getRender(self: visp._visp.ar.Panda3DGeometryRenderer, colorData: visp._visp.core.ImageRGBf, depth: visp._visp.core.ImageFloat) -> None

Get render results into ViSP readable structures.

Parameters:

colorData: Depending on the vpRenderType, normals in the world or camera frame may be stored in this image.
depth: Image used to store depth

getRender(self: visp._visp.ar.Panda3DGeometryRenderer, normals: visp._visp.core.ImageRGBf, depth: visp._visp.core.ImageFloat, bb: visp._visp.core.Rect, h: int, w: int) -> None
getRender(self: visp._visp.ar.Panda3DGeometryRenderer, colorData: visp._visp.core.ImageRGBf) -> None

Get render results into ViSP readable structures. This version only retrieves the normal data.

Parameters:

colorData: Depending on the vpRenderType, normals in the world or camera frame may be stored in this image.

getRender(self: visp._visp.ar.Panda3DGeometryRenderer, depth: visp._visp.core.ImageFloat) -> None

Get render results into ViSP readable structures. This version only retrieves the depth data.

Parameters:

depth: Depending on the vpRenderType, rendered depth may be stored in this image.

getRenderOrder(self) → int¶

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

getRenderRoot(self) → NodePath¶: Get the scene root.

initFramework(self) → None¶

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)

initFromParent(*args, **kwargs)¶

Overloaded function.

initFromParent(self: visp._visp.ar.Panda3DBaseRenderer, framework: PandaFramework, window: PointerTo<WindowFramework>) -> None
initFromParent(self: visp._visp.ar.Panda3DBaseRenderer, renderer: visp._visp.ar.Panda3DBaseRenderer) -> None

isRendering3DScene(self) → bool¶

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.

loadObject(self, nodeName: str, modelPath: str) → NodePath¶

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

Returns:

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

printStructure(self) → None¶

renderFrame(self) → None¶

setAbortOnPandaError(self, abort: bool) → None¶

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

setCameraPose(self, wTc: visp._visp.core.HomogeneousMatrix) → None¶

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

Parameters:

wTc: visp._visp.core.HomogeneousMatrix¶: the new pose of the camera, in world frame

setName(self, name: str) → None¶

setNodePose(*args, **kwargs)¶

Overloaded function.

setNodePose(self: visp._visp.ar.Panda3DBaseRenderer, name: str, wTo: visp._visp.core.HomogeneousMatrix) -> None

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

setNodePose(self: visp._visp.ar.Panda3DBaseRenderer, object: NodePath, wTo: visp._visp.core.HomogeneousMatrix) -> None

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

setRenderOrder(self, order: int) → None¶

setRenderParameters(self, params: visp._visp.ar.Panda3DRenderParameters) → None¶

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

Parameters:

params: visp._visp.ar.Panda3DRenderParameters¶: the new rendering parameters

setVerticalSyncEnabled(self, useVsync: bool) → None¶

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

Parameters:

useVsync: bool¶: Whether to use vsync or not

static vispPointToPanda(point: visp._visp.core.ColVector) → visp._visp.core.ColVector¶

static vispVectorToPanda(vec: visp._visp.core.ColVector) → visp._visp.core.ColVector¶