#include <vpPanda3DDepthFilters.h>

Inheritance diagram for vpPanda3DDepthCannyFilter:

Public Member Functions
	vpPanda3DDepthCannyFilter (const std::string &name, std::shared_ptr< vpPanda3DGeometryRenderer > inputRenderer, bool isOutput, float edgeThreshold)
FrameBufferProperties	getBufferProperties () const VP_OVERRIDE
PointerTo< Texture >	setupTexture (const FrameBufferProperties &fbp) const VP_OVERRIDE
void	getRender (vpImage< float > &I, vpImage< unsigned char > &valid) const
void	getRender (vpImage< float > &I, vpImage< unsigned char > &valid, const vpRect &bb, unsigned int h, unsigned w) const
void	setEdgeThreshold (float edgeThreshold)
bool	isRendering3DScene () const VP_OVERRIDE
PointerTo< GraphicsOutput >	getMainOutputBuffer () VP_OVERRIDE
void	afterFrameRendered () VP_OVERRIDE
virtual void	initFramework ()
virtual void	initFromParent (PointerTo< WindowFramework > window)
virtual void	initFromParent (const vpPanda3DBaseRenderer &renderer)
virtual void	beforeFrameRendered ()
virtual void	renderFrame ()
const std::string &	getName () const
void	setName (const std::string &name)
NodePath &	getRenderRoot ()
virtual void	clearScene ()
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 &nearV, float &farV, bool fast)
NodePath	loadObject (const std::string &nodeName, const std::string &modelPath)
virtual void	addNodeToScene (const NodePath &object)
virtual void	addObjectToScene (const std::string &name, const std::string &path)
void	setVerticalSyncEnabled (bool useVsync)
void	setAbortOnPandaError (bool abort)
void	enableDebugLog ()
void	printStructure ()
virtual void	enableSharedDepthBuffer (vpPanda3DBaseRenderer &sourceBuffer)
PointerTo< WindowFramework > &	getWindowFramework ()

Static Public Member Functions
static vpColVector	vispPointToPanda (const vpColVector &point)
static vpColVector	vispVectorToPanda (const vpColVector &vec)
static const vpHomogeneousMatrix &	pandaToVisp ()
static const vpHomogeneousMatrix &	vispToPanda ()

Protected Member Functions
void	setupScene () VP_OVERRIDE
void	setupCamera () VP_OVERRIDE
void	setupRenderTarget () VP_OVERRIDE
void	setRenderParameters (const vpPanda3DRenderParameters &params) VP_OVERRIDE
void	getRenderBasic (vpImage< unsigned char > &I) const
void	getRenderBasic (vpImage< vpRGBf > &I) const

Protected Attributes
std::shared_ptr< vpPanda3DBaseRenderer >	m_inputRenderer
bool	m_isOutput
std::string	m_fragmentShader
PointerTo< Shader >	m_shader
PointerTo< Texture >	m_texture
PointerTo< GraphicsOutput >	m_buffer
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 std::string	FILTER_VERTEX_SHADER
static const vpHomogeneousMatrix	VISP_T_PANDA
static const vpHomogeneousMatrix	PANDA_T_VISP

Detailed Description

Implementation of canny filtering, using Sobel kernels.

The results of the canny are filtered based on a threshold value (defined between 0 and 255), checking whether there is enough gradient information. The output of this image is a floating RGB image containing:

In the red channel, the value of the convolution with the Sobel horizontal kernel
In the green channel, the value of the convolution with the Sobel vertical kernel
In the blue channel, the angle (in radians) of the edge normal.

Definition at line 81 of file vpPanda3DDepthFilters.h.

Constructor & Destructor Documentation

◆ vpPanda3DDepthCannyFilter()

vpPanda3DDepthCannyFilter::vpPanda3DDepthCannyFilter	(	const std::string &	name,
		std::shared_ptr< vpPanda3DGeometryRenderer >	inputRenderer,
		bool	isOutput,
		float	edgeThreshold )

Definition at line 168 of file vpPanda3DDepthFilters.cpp.

References vpPanda3DDepthCannyFilter(), and vpPanda3DPostProcessFilter::vpPanda3DPostProcessFilter().

Referenced by vpPanda3DDepthCannyFilter().

Member Function Documentation

◆ addNodeToScene()

void vpPanda3DBaseRenderer::addNodeToScene ( const NodePath & object )

virtualinherited

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

Parameters

object

Reimplemented in vpPanda3DRendererSet, and vpPanda3DRGBRenderer.

Definition at line 347 of file vpPanda3DBaseRenderer.cpp.

References m_camera, m_renderRoot, vpException::notInitialized, and setNodePose().

Referenced by addObjectToScene().

◆ addObjectToScene()

void vpPanda3DBaseRenderer::addObjectToScene	(	const std::string &	name,
		const std::string &	path )

virtualinherited

Load and and an object to the scene.

Parameters

name
path

Definition at line 357 of file vpPanda3DBaseRenderer.cpp.

References addNodeToScene(), and loadObject().

◆ afterFrameRendered()

void vpPanda3DPostProcessFilter::afterFrameRendered ( )

inlinevirtualinherited

Reimplemented from vpPanda3DBaseRenderer.

Definition at line 82 of file vpPanda3DPostProcessFilter.h.

References vpPanda3DBaseRenderer::afterFrameRendered(), and m_isOutput.

◆ beforeFrameRendered()

virtual void vpPanda3DBaseRenderer::beforeFrameRendered ( )

inlinevirtualinherited

Reimplemented in vpObjectCentricRenderer, vpPanda3DGeometryRenderer, and vpPanda3DRendererSet.

Definition at line 89 of file vpPanda3DBaseRenderer.h.

Referenced by renderFrame().

◆ clearScene()

virtual void vpPanda3DBaseRenderer::clearScene ( )

inlinevirtualinherited

Reimplemented in vpPanda3DRendererSet.

Definition at line 108 of file vpPanda3DBaseRenderer.h.

References m_renderRoot.

◆ computeNearAndFarPlanesFromNode()

void vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode	(	const std::string &	name,
		float &	nearV,
		float &	farV,
		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.
nearV	resulting near clipping plane distance
farV	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 239 of file vpPanda3DBaseRenderer.cpp.

References vpException::badValue, vpException::fatalError, getCameraPose(), getNodePose(), vpHomogeneousMatrix::inverse(), m_camera, m_cameraPath, m_renderRoot, vpMath::maximum(), vpException::notInitialized, and PANDA_T_VISP.

◆ enableDebugLog()

void vpPanda3DBaseRenderer::enableDebugLog ( )

inherited

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 381 of file vpPanda3DBaseRenderer.cpp.

◆ enableSharedDepthBuffer()

void vpPanda3DBaseRenderer::enableSharedDepthBuffer ( vpPanda3DBaseRenderer & sourceBuffer )

virtualinherited

Reimplemented in vpPanda3DRendererSet.

Definition at line 309 of file vpPanda3DBaseRenderer.cpp.

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

◆ getBufferProperties()

FrameBufferProperties vpPanda3DDepthCannyFilter::getBufferProperties ( ) const

virtual

Implements vpPanda3DPostProcessFilter.

Definition at line 186 of file vpPanda3DDepthFilters.cpp.

◆ 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 198 of file vpPanda3DBaseRenderer.cpp.

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

Referenced by computeNearAndFarPlanesFromNode().

◆ getMainOutputBuffer()

PointerTo< GraphicsOutput > vpPanda3DPostProcessFilter::getMainOutputBuffer ( )

inlinevirtualinherited

Reimplemented from vpPanda3DBaseRenderer.

Definition at line 80 of file vpPanda3DPostProcessFilter.h.

References m_buffer.

◆ getName()

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

inlineinherited

Get the name of the renderer.

Returns: const std::string&

Definition at line 98 of file vpPanda3DBaseRenderer.h.

References m_name.

◆ 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 221 of file vpPanda3DBaseRenderer.cpp.

References vpException::badValue, getNodePose(), and m_renderRoot.

Referenced by computeNearAndFarPlanesFromNode(), getCameraPose(), and getNodePose().

◆ 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 230 of file vpPanda3DBaseRenderer.cpp.

References PANDA_T_VISP.

◆ getRender() [1/2]

void vpPanda3DDepthCannyFilter::getRender	(	vpImage< float > &	I,
		vpImage< unsigned char > &	valid ) const

Definition at line 208 of file vpPanda3DDepthFilters.cpp.

References vpException::fatalError, vpPanda3DPostProcessFilter::m_isOutput, vpPanda3DBaseRenderer::m_renderParameters, vpPanda3DPostProcessFilter::m_texture, and vpImage< Type >::resize().

◆ getRender() [2/2]

void vpPanda3DDepthCannyFilter::getRender	(	vpImage< float > &	I,
		vpImage< unsigned char > &	valid,
		const vpRect &	bb,
		unsigned int	h,
		unsigned	w ) const

Definition at line 237 of file vpPanda3DDepthFilters.cpp.

References vpException::dimensionError, vpException::fatalError, vpPanda3DPostProcessFilter::m_isOutput, vpPanda3DBaseRenderer::m_renderParameters, vpPanda3DPostProcessFilter::m_texture, and vpImage< Type >::resize().

◆ getRenderBasic() [1/2]

void vpPanda3DPostProcessFilter::getRenderBasic ( vpImage< unsigned char > & I ) const

protectedinherited

Definition at line 160 of file vpPanda3DPostProcessFilter.cpp.

References vpException::fatalError, m_isOutput, vpPanda3DBaseRenderer::m_renderParameters, and m_texture.

Referenced by vpPanda3DCanny::getRender(), vpPanda3DDepthGaussianBlur::getRender(), vpPanda3DGaussianBlur::getRender(), and vpPanda3DLuminanceFilter::getRender().

◆ getRenderBasic() [2/2]

void vpPanda3DPostProcessFilter::getRenderBasic ( vpImage< vpRGBf > & I ) const

protectedinherited

Definition at line 183 of file vpPanda3DPostProcessFilter.cpp.

References vpRGBf::B, vpException::fatalError, vpRGBf::G, m_isOutput, vpPanda3DBaseRenderer::m_renderParameters, m_texture, and vpRGBf::R.

◆ 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 134 of file vpPanda3DBaseRenderer.h.

References m_renderOrder.

◆ getRenderRoot()

NodePath & vpPanda3DBaseRenderer::getRenderRoot ( )

inlineinherited

Get the scene root.

Definition at line 106 of file vpPanda3DBaseRenderer.h.

References m_renderRoot.

◆ getWindowFramework()

PointerTo< WindowFramework > & vpPanda3DBaseRenderer::getWindowFramework ( )

inlineinherited

Definition at line 261 of file vpPanda3DBaseRenderer.h.

References m_window.

Referenced by vpPanda3DFrameworkManager::enableSingleRenderer().

◆ 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 81 of file vpPanda3DBaseRenderer.cpp.

References vpException::badValue, vpPanda3DFrameworkManager::getFramework(), 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 )

virtualinherited

Reimplemented in vpPanda3DRendererSet.

Definition at line 124 of file vpPanda3DBaseRenderer.cpp.

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

◆ initFromParent() [2/2]

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

virtualinherited

Reimplemented in vpPanda3DRendererSet.

Definition at line 115 of file vpPanda3DBaseRenderer.cpp.

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

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

◆ isRendering3DScene()

bool vpPanda3DPostProcessFilter::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 from vpPanda3DBaseRenderer.

Definition at line 75 of file vpPanda3DPostProcessFilter.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 331 of file vpPanda3DBaseRenderer.cpp.

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

Referenced by addObjectToScene().

◆ pandaToVisp()

const vpHomogeneousMatrix & vpPanda3DBaseRenderer::pandaToVisp ( )

staticinherited

Definition at line 56 of file vpPanda3DBaseRenderer.cpp.

References VISP_T_PANDA.

◆ printStructure()

void vpPanda3DBaseRenderer::printStructure ( )

inherited

Definition at line 399 of file vpPanda3DBaseRenderer.cpp.

References m_renderRoot.

◆ renderFrame()

void vpPanda3DBaseRenderer::renderFrame ( )

virtualinherited

Examples: tutorial-panda3d-renderer.cpp.

Definition at line 146 of file vpPanda3DBaseRenderer.cpp.

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

◆ 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 371 of file vpPanda3DBaseRenderer.cpp.

◆ 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 190 of file vpPanda3DBaseRenderer.cpp.

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

◆ setEdgeThreshold()

void vpPanda3DDepthCannyFilter::setEdgeThreshold ( float edgeThreshold )

Definition at line 178 of file vpPanda3DDepthFilters.cpp.

References vpPanda3DBaseRenderer::m_renderParameters, and vpPanda3DBaseRenderer::m_renderRoot.

◆ setName()

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

inlineinherited

Definition at line 100 of file vpPanda3DBaseRenderer.h.

References m_name.

◆ 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 206 of file vpPanda3DBaseRenderer.cpp.

References m_renderRoot, and setNodePose().

Referenced by addNodeToScene(), vpPanda3DRGBRenderer::addNodeToScene(), setCameraPose(), and setNodePose().

◆ 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 212 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 )

inherited

Definition at line 322 of file vpPanda3DBaseRenderer.cpp.

References m_buffers, and m_renderOrder.

◆ setRenderParameters()

void vpPanda3DPostProcessFilter::setRenderParameters ( const vpPanda3DRenderParameters & params )

protectedvirtualinherited

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

Parameters

params the new rendering parameters

Reimplemented from vpPanda3DBaseRenderer.

Definition at line 136 of file vpPanda3DPostProcessFilter.cpp.

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

◆ setupCamera()

void vpPanda3DPostProcessFilter::setupCamera ( )

protectedvirtualinherited

Initialize camera. Should be called when the scene root of this render has already been created.

Reimplemented from vpPanda3DBaseRenderer.

Definition at line 75 of file vpPanda3DPostProcessFilter.cpp.

References vpPanda3DBaseRenderer::m_camera, vpPanda3DBaseRenderer::m_cameraPath, vpPanda3DBaseRenderer::m_renderRoot, and vpPanda3DBaseRenderer::m_window.

◆ setupRenderTarget()

void vpPanda3DPostProcessFilter::setupRenderTarget ( )

protectedvirtualinherited

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

Reimplemented from vpPanda3DBaseRenderer.

Definition at line 95 of file vpPanda3DPostProcessFilter.cpp.

References vpException::fatalError, getBufferProperties(), m_buffer, vpPanda3DBaseRenderer::m_buffers, vpPanda3DBaseRenderer::m_cameraPath, m_isOutput, vpPanda3DBaseRenderer::m_name, vpPanda3DBaseRenderer::m_renderOrder, vpPanda3DBaseRenderer::m_renderParameters, m_texture, vpPanda3DBaseRenderer::m_window, and setupTexture().

◆ setupScene()

void vpPanda3DDepthCannyFilter::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 vpPanda3DPostProcessFilter.

Definition at line 172 of file vpPanda3DDepthFilters.cpp.

References vpPanda3DBaseRenderer::m_renderRoot, and vpPanda3DPostProcessFilter::setupScene().

◆ setupTexture()

PointerTo< Texture > vpPanda3DDepthCannyFilter::setupTexture ( const FrameBufferProperties & fbp ) const

virtual

Reimplemented from vpPanda3DPostProcessFilter.

Definition at line 199 of file vpPanda3DDepthFilters.cpp.

◆ 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 362 of file vpPanda3DBaseRenderer.cpp.

Referenced by vpPanda3DBaseRenderer().

◆ vispPointToPanda()

vpColVector vpPanda3DBaseRenderer::vispPointToPanda ( const vpColVector & point )

staticinherited

Definition at line 387 of file vpPanda3DBaseRenderer.cpp.

References PANDA_T_VISP.

◆ vispToPanda()

const vpHomogeneousMatrix & vpPanda3DBaseRenderer::vispToPanda ( )

staticinherited

Definition at line 58 of file vpPanda3DBaseRenderer.cpp.

References PANDA_T_VISP.

Referenced by vpObjectCentricRenderer::computeBoundingBox(), and vpObjectCentricRenderer::computeClipping().

◆ vispVectorToPanda()

vpColVector vpPanda3DBaseRenderer::vispVectorToPanda ( const vpColVector & vec )

staticinherited

Definition at line 393 of file vpPanda3DBaseRenderer.cpp.

References PANDA_T_VISP.

Referenced by vpPanda3DDirectionalLight::addToScene().

Member Data Documentation

◆ FILTER_VERTEX_SHADER

BEGIN_VISP_NAMESPACE const std::string vpPanda3DPostProcessFilter::FILTER_VERTEX_SHADER

staticprotectedinherited

Initial value:

=
"#version 330\n"
"in vec4 p3d_Vertex;\n"
"uniform mat4 p3d_ModelViewProjectionMatrix;\n"
"in vec2 p3d_MultiTexCoord0;\n"
"out vec2 texcoords;\n"
 
"void main()\n"
"{\n"
"  gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex;\n"
"  texcoords = p3d_MultiTexCoord0;\n"
"}\n"

Definition at line 111 of file vpPanda3DPostProcessFilter.h.

Referenced by setupScene().

◆ m_buffer

PointerTo<GraphicsOutput> vpPanda3DPostProcessFilter::m_buffer

protectedinherited

Definition at line 109 of file vpPanda3DPostProcessFilter.h.

Referenced by getMainOutputBuffer(), and setupRenderTarget().

◆ m_buffers

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

protectedinherited

NodePath of the camera.

Definition at line 296 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

protectedinherited

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

Definition at line 294 of file vpPanda3DBaseRenderer.h.

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

◆ m_cameraPath

NodePath vpPanda3DBaseRenderer::m_cameraPath

protectedinherited

Definition at line 295 of file vpPanda3DBaseRenderer.h.

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

◆ m_fragmentShader

std::string vpPanda3DPostProcessFilter::m_fragmentShader

protectedinherited

Whether this filter is an output to be used and should be copied to ram.

Definition at line 106 of file vpPanda3DPostProcessFilter.h.

Referenced by setupScene(), and vpPanda3DPostProcessFilter().

◆ m_inputRenderer

std::shared_ptr<vpPanda3DBaseRenderer> vpPanda3DPostProcessFilter::m_inputRenderer

protectedinherited

Definition at line 104 of file vpPanda3DPostProcessFilter.h.

Referenced by setRenderParameters(), setupScene(), and vpPanda3DPostProcessFilter().

◆ m_isOutput

bool vpPanda3DPostProcessFilter::m_isOutput

protectedinherited

Definition at line 105 of file vpPanda3DPostProcessFilter.h.

Referenced by afterFrameRendered(), vpPanda3DDepthCannyFilter::getRender(), vpPanda3DDepthCannyFilter::getRender(), getRenderBasic(), getRenderBasic(), setupRenderTarget(), and vpPanda3DPostProcessFilter().

◆ 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 297 of file vpPanda3DBaseRenderer.h.

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

◆ m_name

std::string vpPanda3DBaseRenderer::m_name

protectedinherited

Inverse of VISP_T_PANDA.

Definition at line 289 of file vpPanda3DBaseRenderer.h.

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

◆ m_renderOrder

int vpPanda3DBaseRenderer::m_renderOrder

protectedinherited

name of the renderer

Definition at line 290 of file vpPanda3DBaseRenderer.h.

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

◆ m_renderParameters

vpPanda3DRenderParameters vpPanda3DBaseRenderer::m_renderParameters

protectedinherited

Pointer to owning window, which can create buffers etc. It is not necessarily visible.

Definition at line 292 of file vpPanda3DBaseRenderer.h.

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

◆ m_renderRoot

NodePath vpPanda3DBaseRenderer::m_renderRoot

protectedinherited

◆ m_shader

PointerTo<Shader> vpPanda3DPostProcessFilter::m_shader

protectedinherited

Definition at line 107 of file vpPanda3DPostProcessFilter.h.

Referenced by setupScene().

◆ m_texture

PointerTo<Texture> vpPanda3DPostProcessFilter::m_texture

protectedinherited

Definition at line 108 of file vpPanda3DPostProcessFilter.h.

Referenced by vpPanda3DDepthCannyFilter::getRender(), vpPanda3DDepthCannyFilter::getRender(), getRenderBasic(), getRenderBasic(), and setupRenderTarget().

◆ 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 291 of file vpPanda3DBaseRenderer.h.

Referenced by vpPanda3DRendererSet::addSubRenderer(), getWindowFramework(), initFramework(), vpPanda3DRendererSet::initFramework(), initFromParent(), initFromParent(), vpPanda3DRendererSet::initFromParent(), loadObject(), renderFrame(), vpPanda3DPostProcessFilter::setRenderParameters(), setupCamera(), vpPanda3DPostProcessFilter::setupCamera(), vpPanda3DGeometryRenderer::setupRenderTarget(), vpPanda3DPostProcessFilter::setupRenderTarget(), vpPanda3DRGBRenderer::setupRenderTarget(), setupScene(), vpPanda3DGeometryRenderer::setupScene(), vpPanda3DBaseRenderer(), and ~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 286 of file vpPanda3DBaseRenderer.h.

Referenced by computeNearAndFarPlanesFromNode(), getNodePose(), vispPointToPanda(), vispToPanda(), and vispVectorToPanda().

◆ VISP_T_PANDA

BEGIN_VISP_NAMESPACE const vpHomogeneousMatrix vpPanda3DBaseRenderer::VISP_T_PANDA

staticprotectedinherited

Definition at line 285 of file vpPanda3DBaseRenderer.h.

Referenced by pandaToVisp(), and setNodePose().

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpPanda3DDepthCannyFilter()

Member Function Documentation

◆ addNodeToScene()

◆ addObjectToScene()

◆ afterFrameRendered()

◆ beforeFrameRendered()

◆ clearScene()

◆ computeNearAndFarPlanesFromNode()

◆ enableDebugLog()

◆ enableSharedDepthBuffer()

◆ getBufferProperties()

◆ getCameraPose()

◆ getMainOutputBuffer()

◆ getName()

◆ getNodePose() [1/2]

◆ getNodePose() [2/2]

◆ getRender() [1/2]

◆ getRender() [2/2]

◆ getRenderBasic() [1/2]

◆ getRenderBasic() [2/2]

◆ getRenderOrder()

◆ getRenderRoot()

◆ getWindowFramework()

◆ initFramework()

◆ initFromParent() [1/2]

◆ initFromParent() [2/2]

◆ isRendering3DScene()

◆ loadObject()

◆ pandaToVisp()

◆ printStructure()

◆ renderFrame()

◆ setAbortOnPandaError()

◆ setCameraPose()

◆ setEdgeThreshold()

◆ setName()

◆ setNodePose() [1/2]

◆ setNodePose() [2/2]

◆ setRenderOrder()

◆ setRenderParameters()

◆ setupCamera()

◆ setupRenderTarget()

◆ setupScene()

◆ setupTexture()

◆ setVerticalSyncEnabled()

◆ vispPointToPanda()

◆ vispToPanda()

◆ vispVectorToPanda()

Member Data Documentation

◆ FILTER_VERTEX_SHADER

◆ m_buffer

◆ m_buffers

◆ m_camera

◆ m_cameraPath

◆ m_fragmentShader

◆ m_inputRenderer

◆ m_isOutput

◆ m_isWindowOwner

◆ m_name

◆ m_renderOrder

◆ m_renderParameters

◆ m_renderRoot

◆ m_shader

◆ m_texture

◆ m_window

◆ PANDA_T_VISP

◆ VISP_T_PANDA