Merge pull request #1559 from SamFlt/fix_test_rbt

Fix rendering issues with Panda3D

modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h

@@ -38,8 +38,13 @@
 #include <visp3/core/vpCameraParameters.h>
 #include <visp3/ar/vpPanda3DRenderParameters.h>
 
-#include <pandaFramework.h>
-#include <pandaSystem.h>
+#include <windowFramework.h>
+#include <graphicsOutput.h>
+
+#include <nodePath.h>
+#include <pointerTo.h>
+#include <camera.h>
+
 
 BEGIN_VISP_NAMESPACE
 /**
@@ -63,19 +68,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer
     setVerticalSyncEnabled(false);
   }
 
-  virtual ~vpPanda3DBaseRenderer()
-  {
-    if (m_window != nullptr) {
-      for (GraphicsOutput *buffer: m_buffers) {
-        buffer->get_engine()->remove_window(buffer);
-      }
-    }
-    if (m_isWindowOwner) {
-      framework.close_window(m_window);
-    }
-
-    m_window = nullptr;
-  }
+  virtual ~vpPanda3DBaseRenderer();
 
   /**
    * @brief Initialize the whole Panda3D framework. Create a new PandaFramework object and a new window.
@@ -88,13 +81,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer
 
   virtual void beforeFrameRendered() { }
   virtual void renderFrame();
-  virtual void afterFrameRendered()
-  {
-    GraphicsOutput *mainBuffer = getMainOutputBuffer();
-    if (mainBuffer != nullptr) {
-      m_window->get_graphics_output()->get_engine()->extract_texture_data(mainBuffer->get_texture(), mainBuffer->get_gsg());
-    }
-  }
+  virtual void afterFrameRendered();
 
   /**
    * @brief Get the name of the renderer
@@ -134,14 +121,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer
    */
   int getRenderOrder() const { return m_renderOrder; }
 
-  void setRenderOrder(int order)
-  {
-    int previousOrder = m_renderOrder;
-    m_renderOrder = order;
-    for (GraphicsOutput *buffer: m_buffers) {
-      buffer->set_sort(buffer->get_sort() + (order - previousOrder));
-    }
-  }
+  void setRenderOrder(int order);
 
   /**
    * @brief Set the camera's pose.
@@ -250,7 +230,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer
 
   void printStructure();
 
-  virtual GraphicsOutput *getMainOutputBuffer() { return nullptr; }
+  virtual PointerTo<GraphicsOutput> getMainOutputBuffer() { return nullptr; }
 
   virtual void enableSharedDepthBuffer(vpPanda3DBaseRenderer &sourceBuffer);
 
@@ -278,8 +258,6 @@ class VISP_EXPORT vpPanda3DBaseRenderer
 
   const static vpHomogeneousMatrix VISP_T_PANDA; //! Homogeneous transformation matrix to convert from the Panda coordinate system (right-handed Z-up) to the ViSP coordinate system (right-handed Y-Down)
   const static vpHomogeneousMatrix PANDA_T_VISP; //! Inverse of VISP_T_PANDA
-  static PandaFramework framework; //! Panda Rendering framework
-  static bool frameworkIsOpen;
 
 protected:
   std::string m_name; //! name of the renderer
@@ -289,7 +267,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer
   NodePath m_renderRoot; //! Node containing all the objects and the camera for this renderer
   PointerTo<Camera> m_camera;
   NodePath m_cameraPath; //! NodePath of the camera
-  std::vector<GraphicsOutput *> m_buffers; //! Set of buffers that this renderer uses. This storage contains weak refs to those buffers and should not deallocate them.
+  std::vector<PointerTo<GraphicsOutput>> m_buffers; //! Set of buffers that this renderer uses. This storage contains weak refs to those buffers and should not deallocate them.
   bool m_isWindowOwner; // Whether this panda subrenderer is the "owner" of the window framework and should close all associated windows when getting destroyed
 };
 

modules/ar/include/visp3/ar/vpPanda3DCommonFilters.h

@@ -37,6 +37,7 @@
 
 #include <visp3/ar/vpPanda3DPostProcessFilter.h>
 
+
 BEGIN_VISP_NAMESPACE
 class vpPanda3DRGBRenderer;
 

modules/ar/include/visp3/ar/vpPanda3DFrameworkManager.h

@@ -0,0 +1,96 @@
+/*
+ * 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 [email protected]
+ *
+ * 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_FRAMEWORK_MANAGER_H
+#define VP_PANDA3D_FRAMEWORK_MANAGER_H
+
+#include <visp3/core/vpConfig.h>
+
+#if defined(VISP_HAVE_PANDA3D)
+
+#include <pandaFramework.h>
+#include <pandaSystem.h>
+
+
+BEGIN_VISP_NAMESPACE
+/**
+ * \ingroup group_ar_renderer_panda3d
+ *
+ * \brief Base class for a panda3D renderer. This class handles basic functionalities,
+ * such as loading object, changing camera parameters.
+ *
+ * For a subclass to have a novel behaviour (e.g, display something else) These methods should be overriden:
+ *
+ * - setupScene: This is where you should apply your shaders.
+ * - setupCamera: This is where cameras are created and intrinsics parameters are applied
+ * - setupRenderTarget: This is where you should create the texture buffers, where the render results should be stored.
+*/
+class VISP_EXPORT vpPanda3DFrameworkManager
+{
+private:
+
+  vpPanda3DFrameworkManager() : m_frameworkIsOpen(false)
+  { }
+
+  virtual ~vpPanda3DFrameworkManager()
+  { }
+
+
+public:
+
+  void initFramework();
+
+  void exit();
+
+  PandaFramework &getFramework() { return m_framework; }
+
+  void registerDisabledWindow(PointerTo<WindowFramework> wf);
+
+  void disableAllOtherRenderers(PointerTo<WindowFramework> &active);
+
+  void enableAllRenderers();
+
+  static vpPanda3DFrameworkManager &getInstance()
+  {
+    static vpPanda3DFrameworkManager instance;
+    return instance;
+  }
+
+protected:
+
+  PandaFramework m_framework; //! Panda Rendering framework
+  bool m_frameworkIsOpen;
+  std::vector<PointerTo<WindowFramework>> m_disabledWindows;
+
+};
+
+END_VISP_NAMESPACE
+#endif //VISP_HAVE_PANDA3D
+#endif

modules/ar/include/visp3/ar/vpPanda3DGeometryRenderer.h

@@ -61,7 +61,7 @@ class VISP_EXPORT vpPanda3DGeometryRenderer : public vpPanda3DBaseRenderer
   };
 
   vpPanda3DGeometryRenderer(vpRenderType renderType);
-  ~vpPanda3DGeometryRenderer() = default;
+
 
   /**
    * @brief Get render results into ViSP readable structures
@@ -85,7 +85,7 @@ class VISP_EXPORT vpPanda3DGeometryRenderer : public vpPanda3DBaseRenderer
    */
   void getRender(vpImage<float> &depth) const;
 
-  GraphicsOutput *getMainOutputBuffer() VP_OVERRIDE { return (GraphicsOutput *)m_normalDepthBuffer; }
+  PointerTo<GraphicsOutput> getMainOutputBuffer() VP_OVERRIDE { return m_normalDepthBuffer; }
 
 
 protected:

modules/ar/include/visp3/ar/vpPanda3DPostProcessFilter.h

@@ -37,6 +37,7 @@
 #include <visp3/ar/vpPanda3DBaseRenderer.h>
 #include "cardMaker.h"
 #include "orthographicLens.h"
+#include "frameBufferProperties.h"
 
 BEGIN_VISP_NAMESPACE
 /**
@@ -69,7 +70,7 @@ class VISP_EXPORT vpPanda3DPostProcessFilter : public vpPanda3DBaseRenderer
     return false;
   }
 
-  GraphicsOutput *getMainOutputBuffer() VP_OVERRIDE { return (GraphicsOutput *)m_buffer; }
+  PointerTo<GraphicsOutput> getMainOutputBuffer() VP_OVERRIDE { return m_buffer; }
 
   void afterFrameRendered() VP_OVERRIDE
   {

modules/ar/include/visp3/ar/vpPanda3DRGBRenderer.h

@@ -80,7 +80,6 @@ class VISP_EXPORT vpPanda3DRGBRenderer : public vpPanda3DBaseRenderer, public vp
    */
   vpPanda3DRGBRenderer(bool showSpeculars) : vpPanda3DBaseRenderer(showSpeculars ? "RGB" : "RGB-diffuse"), m_showSpeculars(showSpeculars) { }
 
-  virtual ~vpPanda3DRGBRenderer() = default;
 
   /**
    * @brief Store the render resulting from calling renderFrame() into a vpImage.
@@ -95,7 +94,7 @@ class VISP_EXPORT vpPanda3DRGBRenderer : public vpPanda3DBaseRenderer, public vp
 
   void setBackgroundImage(const vpImage<vpRGBa> &background);
 
-  GraphicsOutput *getMainOutputBuffer() VP_OVERRIDE { return (GraphicsOutput *)m_colorBuffer; }
+  PointerTo<GraphicsOutput> getMainOutputBuffer() VP_OVERRIDE { return m_colorBuffer; }
 
   bool isShowingSpeculars() const { return m_showSpeculars; }
 

modules/ar/include/visp3/ar/vpPanda3DRendererSet.h

@@ -198,14 +198,14 @@ class VISP_EXPORT vpPanda3DRendererSet : public vpPanda3DBaseRenderer, public vp
     return nullptr;
   }
 
-  void beforeFrameRendered() VP_OVERRIDE
+  virtual void beforeFrameRendered() VP_OVERRIDE
   {
     for (std::shared_ptr<vpPanda3DBaseRenderer> &renderer: m_subRenderers) {
       renderer->beforeFrameRendered();
     }
   }
 
-  void afterFrameRendered() VP_OVERRIDE
+  virtual void afterFrameRendered() VP_OVERRIDE
   {
     for (std::shared_ptr<vpPanda3DBaseRenderer> &renderer: m_subRenderers) {
       renderer->afterFrameRendered();