RBT Various additions and improvements

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

@@ -79,6 +79,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer
   virtual void initFromParent(PointerTo<WindowFramework> window);
   virtual void initFromParent(const vpPanda3DBaseRenderer &renderer);
 
+
   virtual void beforeFrameRendered() { }
   virtual void renderFrame();
   virtual void afterFrameRendered();
@@ -98,6 +99,11 @@ class VISP_EXPORT vpPanda3DBaseRenderer
    */
   NodePath &getRenderRoot() { return m_renderRoot; }
 
+  virtual void clearScene()
+  {
+    m_renderRoot.node()->remove_all_children();
+  }
+
   /**
    * @brief Set new rendering parameters. If the scene has already been initialized, the renderer camera is updated.
    *
@@ -234,9 +240,11 @@ class VISP_EXPORT vpPanda3DBaseRenderer
 
   virtual void enableSharedDepthBuffer(vpPanda3DBaseRenderer &sourceBuffer);
 
-  static const vpHomogeneousMatrix& pandaToVisp();
+  static const vpHomogeneousMatrix &pandaToVisp();
+
+  static const vpHomogeneousMatrix &vispToPanda();
 
-  static const vpHomogeneousMatrix& vispToPanda();
+  PointerTo<WindowFramework> &getWindowFramework() { return m_window; }
 
 protected:
 

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

@@ -38,6 +38,7 @@
 #include <pandaFramework.h>
 #include <pandaSystem.h>
 
+class vpPanda3DBaseRenderer;
 
 BEGIN_VISP_NAMESPACE
 /**
@@ -68,6 +69,8 @@ class VISP_EXPORT vpPanda3DFrameworkManager
 
   PandaFramework &getFramework() { return m_framework; }
 
+  void enableSingleRenderer(vpPanda3DBaseRenderer &renderer);
+
   void registerDisabledWindow(PointerTo<WindowFramework> wf);
 
   void disableAllOtherRenderers(PointerTo<WindowFramework> &active);

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

@@ -60,8 +60,9 @@ class VISP_EXPORT vpPanda3DGeometryRenderer : public vpPanda3DBaseRenderer
     CAMERA_NORMALS, //! Surface normals in the frame of the camera. Z points towards the camera and y is up.
   };
 
-  vpPanda3DGeometryRenderer(vpRenderType renderType);
+  vpPanda3DGeometryRenderer(vpRenderType renderType, bool fast = true);
 
+  void beforeFrameRendered() VP_OVERRIDE;
 
   /**
    * @brief Get render results into ViSP readable structures
@@ -87,6 +88,8 @@ class VISP_EXPORT vpPanda3DGeometryRenderer : public vpPanda3DBaseRenderer
 
   PointerTo<GraphicsOutput> getMainOutputBuffer() VP_OVERRIDE { return m_normalDepthBuffer; }
 
+  bool isFastAndApproximateRendering() const { return m_fast; }
+
 
 protected:
   void setupScene() VP_OVERRIDE;
@@ -96,6 +99,8 @@ class VISP_EXPORT vpPanda3DGeometryRenderer : public vpPanda3DBaseRenderer
   vpRenderType m_renderType;
   PointerTo<Texture> m_normalDepthTexture;
   PointerTo<GraphicsOutput> m_normalDepthBuffer;
+  //! Use fast approximate rendering.
+  bool m_fast;
 };
 END_VISP_NAMESPACE
 #endif //VISP_HAVE_PANDA3D

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

@@ -92,6 +92,8 @@ class VISP_EXPORT vpPanda3DPostProcessFilter : public vpPanda3DBaseRenderer
   void getRenderBasic(vpImage<vpRGBf> &I) const;
 
   virtual FrameBufferProperties getBufferProperties() const = 0;
+  virtual PointerTo<Texture> setupTexture(const FrameBufferProperties &fbp) const;
+
 
   std::shared_ptr<vpPanda3DBaseRenderer> m_inputRenderer;
   bool m_isOutput; //! Whether this filter is an output to be used and should be copied to ram

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

@@ -82,6 +82,14 @@ class VISP_EXPORT vpPanda3DRendererSet : public vpPanda3DBaseRenderer, public vp
   void initFromParent(PointerTo<WindowFramework> window) VP_OVERRIDE;
   void initFromParent(const vpPanda3DBaseRenderer &renderer) VP_OVERRIDE;
 
+
+  void clearScene() VP_OVERRIDE
+  {
+    for (std::shared_ptr<vpPanda3DBaseRenderer> renderer: m_subRenderers) {
+      renderer->clearScene();
+    }
+  }
+
   /**
    * @brief Set the pose of the camera, using the ViSP convention. This change is propagated to all subrenderers
    *

modules/ar/src/panda3d-simulator/vpPanda3DFrameworkManager.cpp

@@ -29,6 +29,7 @@
  */
 
 #include <visp3/ar/vpPanda3DFrameworkManager.h>
+#include <visp3/ar/vpPanda3DBaseRenderer.h>
 
 #if defined(VISP_HAVE_PANDA3D)
 
@@ -66,15 +67,22 @@ void vpPanda3DFrameworkManager::registerDisabledWindow(PointerTo<WindowFramework
   m_disabledWindows.push_back(wf);
 }
 
+void vpPanda3DFrameworkManager::enableSingleRenderer(vpPanda3DBaseRenderer &renderer)
+{
+  enableAllRenderers();
+  disableAllOtherRenderers(renderer.getWindowFramework());
+}
+
 void vpPanda3DFrameworkManager::disableAllOtherRenderers(PointerTo<WindowFramework> &active)
 {
   GraphicsStateGuardian *activeGsg = active->get_graphics_output()->get_gsg();
 
   for (int i = 0; i < m_framework.get_num_windows(); ++i) {
     PointerTo<WindowFramework> fi = m_framework.get_window(i);
     GraphicsStateGuardian *g = fi->get_graphics_output()->get_gsg();
-    g->set_active(g == activeGsg);
-
+    bool active = (g == activeGsg);
+    g->set_active(active);
+    fi->get_graphics_output()->set_active(active);
   }
 }
 
@@ -85,6 +93,7 @@ void vpPanda3DFrameworkManager::enableAllRenderers()
     if (std::find(m_disabledWindows.begin(), m_disabledWindows.end(), fi) == m_disabledWindows.end()) {
 
       fi->get_graphics_output()->get_gsg()->set_active(true);
+      fi->get_graphics_output()->set_active(true);
     }
   }
 }