Working on adding resizable buffers

lagadic · Apr 22, 2024 · 984c775 · 984c775
1 parent 858afb6
commit 984c775
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Showing 4 changed files with 29 additions and 10 deletions.
diff --git a/modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h b/modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h
@@ -102,7 +102,24 @@ class VISP_EXPORT vpPanda3DBaseRenderer
    */
   virtual void setRenderParameters(const vpPanda3DRenderParameters &params)
   {
+    unsigned int previousH = m_renderParameters.getImageHeight(), previousW = m_renderParameters.getImageWidth();
+    bool resize = previousH != params.getImageHeight() || previousW != params.getImageWidth();
+
     m_renderParameters = params;
+
+    if (resize) {
+      for (GraphicsOutput *buffer: m_buffers) {
+        GraphicsBuffer *buf = dynamic_cast<GraphicsBuffer *>(buffer);
+        if (buf == nullptr) {
+          throw vpException(vpException::fatalError, "Panda3D: could not cast to GraphicsBuffer when rendering.");
+        }
+        else {
+          buf->set_size(m_renderParameters.getImageWidth(), m_renderParameters.getImageHeight());
+        }
+      }
+    }
+
+    // If renderer is already initialize, modify camera properties
     if (m_camera != nullptr) {
       m_renderParameters.setupPandaCamera(m_camera);
     }
@@ -243,6 +260,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer
   NodePath m_renderRoot; //! Node containing all the objects and the camera for this renderer
   PT(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.
 };
 
 #endif //VISP_HAVE_PANDA3D

diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
@@ -141,13 +141,18 @@ void vpPanda3DGeometryRenderer::setupRenderTarget()
   win_prop.set_size(m_renderParameters.getImageWidth(), m_renderParameters.getImageHeight());
 
   // Don't open a window - force it to be an offscreen buffer.
-  int flags = GraphicsPipe::BF_refuse_window;
+  int flags = GraphicsPipe::BF_refuse_window  | GraphicsPipe::BF_resizeable;
   GraphicsOutput *windowOutput = m_window->get_graphics_output();
   GraphicsEngine *engine = windowOutput->get_engine();
   GraphicsPipe *pipe = windowOutput->get_pipe();
   m_normalDepthBuffer = engine->make_output(pipe, "My Buffer", -100, fbp, win_prop, flags,
                                             windowOutput->get_gsg(),
                                             windowOutput);
+
+  if (m_normalDepthBuffer == nullptr) {
+    throw vpException(vpException::fatalError, "Could not create geometry info buffer");
+  }
+  m_buffers.push_back(m_normalDepthBuffer);
   m_normalDepthTexture = new Texture();
   m_normalDepthBuffer->set_inverted(windowOutput->get_gsg()->get_copy_texture_inverted());
   fbp.setup_color_texture(m_normalDepthTexture);

diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp
@@ -36,12 +36,7 @@
 void vpPanda3DRGBRenderer::getRender(vpImage<vpRGBa> &I) const
 {
   I.resize(m_colorTexture->get_y_size(), m_colorTexture->get_x_size());
-  std::cout << "Before request" << std::endl;
   unsigned char *data = (unsigned char *)(&(m_colorTexture->get_ram_image().front()));
-  std::cout << m_colorTexture->get_format() << std::endl;
-  // CPTA_uchar p((const unsigned char *)I.bitmap, ((const unsigned char *)I.bitmap) + I.getSize() * 4);
-  // m_colorTexture->set_ram_image_as(p, "rgba");
-  std::cout << "After request" << std::endl;
   // BGRA order in panda3d
   for (unsigned int i = 0; i < I.getSize(); ++i) {
     I.bitmap[i].B = data[i * 4];
@@ -65,17 +60,19 @@ void vpPanda3DRGBRenderer::setupRenderTarget()
   win_prop.set_size(m_renderParameters.getImageWidth(), m_renderParameters.getImageHeight());
 
   // Don't open a window - force it to be an offscreen buffer.
-  int flags = GraphicsPipe::BF_refuse_window;
+  int flags = GraphicsPipe::BF_refuse_window | GraphicsPipe::BF_resizeable;
   GraphicsOutput *windowOutput = m_window->get_graphics_output();
   GraphicsEngine *engine = windowOutput->get_engine();
   GraphicsStateGuardian *gsg = windowOutput->get_gsg();
   GraphicsPipe *pipe = windowOutput->get_pipe();
   m_colorBuffer = engine->make_output(pipe, "Color Buffer", -100,
                                       fbp, win_prop, flags,
                                       gsg, windowOutput);
-  std::cout << "GSG inverted = " << gsg->get_copy_texture_inverted() << std::endl;
+  if (m_colorBuffer == nullptr) {
+    throw vpException(vpException::fatalError, "Could not create color buffer");
+  }
+  m_buffers.push_back(m_colorBuffer);
   m_colorBuffer->set_inverted(gsg->get_copy_texture_inverted());
-  std::cout << "BUFFER inverted = " << m_colorBuffer->get_inverted() << std::endl;
   m_colorTexture = new Texture();
   fbp.setup_color_texture(m_colorTexture);
   m_colorBuffer->add_render_texture(m_colorTexture, GraphicsOutput::RenderTextureMode::RTM_copy_ram);

diff --git a/tutorial/ar/tutorial-panda3d-renderer.cpp b/tutorial/ar/tutorial-panda3d-renderer.cpp
@@ -174,7 +174,6 @@ int main(int argc, const char **argv)
     const double afterAll = vpTime::measureTimeMs();
     const double delta = (afterAll - beforeRender) / 1000.0;
     vpHomogeneousMatrix wTo = renderer.getNodePose(objectName);
-    std::cout << wTo << std::endl;
 
     vpHomogeneousMatrix oToo = vpExponentialMap::direct(vpColVector({ 0.0, 0.0, 0.0, 0.0, vpMath::rad(20.0), 0.0 }), delta);
     renderer.setNodePose(objectName, wTo * oToo);