vpPanda3DGeometryRenderer.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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_GEOMETRY_RENDERER_H
#define VP_PANDA3D_GEOMETRY_RENDERER_H
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PANDA3D)
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpRect.h>
#include <visp3/ar/vpPanda3DBaseRenderer.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPanda3DGeometryRenderer : public vpPanda3DBaseRenderer
{
public:
 
  enum vpRenderType
  {
    OBJECT_NORMALS, 
    CAMERA_NORMALS, 
  };
 
  vpPanda3DGeometryRenderer(vpRenderType renderType, bool fast = true);
 
  void beforeFrameRendered() VP_OVERRIDE;

  void getRender(vpImage<vpRGBf> &colorData, vpImage<float> &depth) const;
 
  void getRender(vpImage<vpRGBf> &normals, vpImage<float> &depth, const vpRect &bb, unsigned int h, unsigned w) const;

  void getRender(vpImage<vpRGBf> &colorData) const;
  void getRender(vpImage<float> &depth) const;
 
  PointerTo<GraphicsOutput> getMainOutputBuffer() VP_OVERRIDE { return m_normalDepthBuffer; }
 
  bool isFastAndApproximateRendering() const { return m_fast; }
 
  vpRenderType getRenderType() const { return m_renderType; }
 
protected:
  void setupScene() VP_OVERRIDE;
  void setupRenderTarget() VP_OVERRIDE;
 
private:
  vpRenderType m_renderType;
  PointerTo<Texture> m_normalDepthTexture;
  PointerTo<GraphicsOutput> m_normalDepthBuffer;
  bool m_fast;
};
END_VISP_NAMESPACE
#endif //VISP_HAVE_PANDA3D
#endif