vpPanda3DRGBRenderer.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 */
 
#ifndef VP_PANDA3D_RGB_RENDERER_H
#define VP_PANDA3D_RGB_RENDERER_H
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PANDA3D)
 
#include <visp3/ar/vpPanda3DBaseRenderer.h>
#include <visp3/ar/vpPanda3DLight.h>
#include <visp3/core/vpImage.h>
 
#include "pointerTo.h"
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPanda3DRGBRenderer : public vpPanda3DBaseRenderer, public vpPanda3DLightableScene
{
public:
  vpPanda3DRGBRenderer() : vpPanda3DBaseRenderer("RGB"), m_showSpeculars(true), m_display2d(nullptr), m_backgroundTexture(nullptr) { }
  vpPanda3DRGBRenderer(bool showSpeculars) : vpPanda3DBaseRenderer(showSpeculars ? "RGB" : "RGB-diffuse"), m_showSpeculars(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 { return m_colorBuffer; }
 
  bool isShowingSpeculars() const { return m_showSpeculars; }
 
protected:
  void setupScene() VP_OVERRIDE;
  void setupRenderTarget() VP_OVERRIDE;
 
  virtual std::string makeFragmentShader(bool hasTexture, bool specular);
 
private:
  bool m_showSpeculars;
  PointerTo<Texture> m_colorTexture;
  PointerTo<GraphicsOutput> m_colorBuffer;
  static const std::string COOK_TORRANCE_VERT;
  static const std::string COOK_TORRANCE_FRAG;
 
  NodePath m_backgroundImage;
  PointerTo<DisplayRegion> m_display2d;
  PointerTo<Texture> m_backgroundTexture;
};
 
END_VISP_NAMESPACE
#endif //VISP_HAVE_PANDA3D
#endif