[WIP] Include new Panda3D

CMakeLists.txt

@@ -623,6 +623,7 @@ VP_OPTION(USE_DIRECTSHOW  DIRECTSHOW  ""    "Include dshow support"            "
 VP_OPTION(USE_OPENMP      OpenMP      ""    "Include openmp support"           "" ON)
 VP_OPTION(USE_EIGEN3      Eigen3      QUIET "Include eigen3 support"           "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_COIN3D      "Coin3D;MyCoin3D" "" "Include coin3d support"        "" ON IF OPENGL_FOUND AND NOT WINRT AND NOT IOS)
+VP_OPTION(USE_PANDA3D     "MyPanda3D" "" "Include Panda3D support"        "" ON IF NOT IOS)
 VP_OPTION(USE_YARP        YARP        QUIET "Include yarp support"             "YARP_DIR" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_OGRE        OGRE        QUIET "Include Ogre support"             "OGRE_DIR" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_OIS         OIS         QUIET "Include Ogre/ois support"         "OIS_DIR"  ON IF USE_OGRE AND NOT WINRT AND NOT IOS)
@@ -1082,6 +1083,7 @@ VP_SET(VISP_HAVE_SOWIN       TRUE IF (BUILD_MODULE_visp_ar AND USE_SOWIN))
 VP_SET(VISP_HAVE_SOXT        TRUE IF (BUILD_MODULE_visp_ar AND USE_SOXT))
 VP_SET(VISP_HAVE_SOQT        TRUE IF (BUILD_MODULE_visp_ar AND USE_SOQT))
 VP_SET(VISP_HAVE_QT          TRUE IF (BUILD_MODULE_visp_ar AND USE_QT))
+VP_SET(VISP_HAVE_PANDA3D     TRUE IF (BUILD_MODULE_visp_ar AND USE_PANDA3D))
 
 VP_SET(VISP_HAVE_ZBAR        TRUE IF (BUILD_MODULE_visp_detection AND USE_ZBAR))
 VP_SET(VISP_HAVE_DMTX        TRUE IF (BUILD_MODULE_visp_detection AND USE_DMTX))
@@ -1720,13 +1722,15 @@ status("    \\- Use Coin3D:"         USE_COIN3D       THEN "yes (ver ${COIN3D_VE
 status("    \\- Use SoWin:"          USE_SOWIN        THEN "yes" ELSE "no")
 status("    \\- Use SoXt:"           USE_SOXT         THEN "yes" ELSE "no")
 if(USE_SOQT AND SoQt_FOUND)
-status("    \\- Use SoQt:"           USE_SOQT AND SoQt_FOUND THEN "yes (ver ${SoQt_VERSION})" ELSE "no")
+status("    \\- Use SoQt:"           USE_SOQT    AND SoQt_FOUND THEN "yes (ver ${SoQt_VERSION})" ELSE "no")
 else()
 status("    \\- Use SoQt:"           USE_SOQT         THEN "yes" ELSE "no")
 endif()
 status("    \\- Use Qt5:"            USE_SOQT AND SoQt_FOUND                    THEN "yes" ELSE "no")
 status("    \\- Use Qt4:"            USE_QT   AND DESIRED_QT_VERSION MATCHES 4  THEN "yes" ELSE "no")
 status("    \\- Use Qt3:"            USE_QT   AND DESIRED_QT_VERSION MATCHES 3  THEN "yes" ELSE "no")
+status("    Panda3D:"                USE_PANDA3D      THEN "yes (ver ${Panda3D_VERSION_STRING})" ELSE "no")
+
 status("")
 status("  Media I/O: ")
 status("    Use JPEG:"               USE_JPEG         THEN "yes (ver ${JPEG_LIB_VERSION})" ELSE "no")

cmake/FindMyPanda3D.cmake

@@ -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 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.
+#
+# Description:
+# Try to find OpenCV framework.
+#
+# Panda3D_FOUND
+# Panda3D_INCLUDE_DIRS
+# Panda3D_LIBRARIES
+#
+#############################################################################
+
+set(PANDA3D_INCLUDE_SEARCH_PATHS
+  $ENV{Panda3D_DIR}/include
+  $ENV{Panda3D_DIR}/built/include
+  ${Panda3D_DIR}/include
+  ${Panda3D_DIR}/built/include
+  /usr/include/panda3d
+  /usr/local/include/panda3d
+  /Library/Developer/Panda3D/include
+)
+
+set(PANDA3D_LIBRARIES_SEARCH_PATHS
+  $ENV{Panda3D_DIR}/lib
+  $ENV{Panda3D_DIR}/built/lib
+  $ENV{Panda3D_DIR}/bin
+  ${Panda3D_DIR}/lib
+  ${Panda3D_DIR}/built/lib
+  ${Panda3D_DIR}/bin
+  /usr/lib/panda3d
+  /usr/local/lib/panda3d
+  /usr/lib/x86_64-linux-gnu/panda3d
+  /Library/Developer/Panda3D/lib
+)
+
+set(PANDA3D_LIBS
+  panda p3framework pandaexpress
+  p3dtoolconfig p3dtool p3direct
+  #pandaegg
+  #p3ffmpeg p3interrogatedb p3tinydisplay p3vision
+  #pandaai pandafx pandaphysics pandaskel
+)
+
+# Fetch all libraries
+set(Panda3D_LIBRARIES "")
+set(ALL_LIBS_FOUND TRUE)
+foreach(lib_name ${PANDA3D_LIBS})
+  find_library(Panda3D_${lib_name}_LIBRARY NAMES "lib${lib_name}" ${lib_name} PATHS ${PANDA3D_LIBRARIES_SEARCH_PATHS})
+  if(NOT Panda3D_${lib_name}_LIBRARY)
+    set(ALL_LIBS_FOUND FALSE)
+  else()
+    list(APPEND Panda3D_LIBRARIES ${Panda3D_${lib_name}_LIBRARY})
+  endif()
+
+  mark_as_advanced(Panda3D_${lib_name}_LIBRARY)
+endforeach()
+
+find_path(Panda3D_INCLUDE_DIRS panda.h PATHS ${PANDA3D_INCLUDE_SEARCH_PATHS})
+message(${Panda3D_INCLUDE_DIRS})
+include(FindPackageHandleStandardArgs)
+# Handle the QUIETLY and REQUIRED arguments and set the Panda3D_FOUND to TRUE
+# if all listed variables are TRUE
+find_package_handle_standard_args(Panda3D DEFAULT_MSG ALL_LIBS_FOUND Panda3D_INCLUDE_DIRS)
+
+if(Panda3D_FOUND)
+  vp_parse_header2(Panda3D "${Panda3D_INCLUDE_DIRS}/pandaVersion.h" PANDA_VERSION_STR)
+endif()
+
+mark_as_advanced(Panda3D_INCLUDE_DIRS)

cmake/templates/VISPConfig.cmake.in

@@ -240,6 +240,7 @@ set(VISP_HAVE_OPENCV_NONFREE "@VISP_HAVE_OPENCV_NONFREE@")
 set(VISP_HAVE_OPENCV_VERSION "@VISP_HAVE_OPENCV_VERSION@")
 set(VISP_HAVE_OPENGL         "@VISP_HAVE_OPENGL@")
 set(VISP_HAVE_OPENMP         "@VISP_HAVE_OPENMP@")
+set(VISP_HAVE_PANDA3D           "@VISP_HAVE_PANDA3D@")
 set(VISP_HAVE_PARPORT        "@VISP_HAVE_PARPORT@")
 set(VISP_HAVE_PCL            "@VISP_HAVE_PCL@")
 set(VISP_HAVE_PIONEER        "@VISP_HAVE_PIONEER@")

cmake/templates/vpConfig.h.in

@@ -283,6 +283,9 @@
 // Defined if OpenGL library available.
 #cmakedefine VISP_HAVE_OPENGL
 
+// Defined if Panda3D is available
+#cmakedefine VISP_HAVE_PANDA3D
+
 // Defined if Qt library available (either Qt-3 or Qt-4).
 #cmakedefine VISP_HAVE_QT
 

doc/config-doxygen.in

@@ -2409,6 +2409,7 @@ PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
                          HAVE_OPENCV_VIDEO \
                          HAVE_OPENCV_VIDEOIO \
                          VISP_HAVE_OPENGL \
+                         VISP_HAVE_PANDA3D \
                          VISP_HAVE_PARPORT \
                          VISP_HAVE_PCL \
                          VISP_HAVE_PIONEER \

doc/mainpage.dox.in

@@ -376,6 +376,27 @@ in different ways. This will motivate us to continue the efforts.
   \defgroup group_ar_renderer Renderer
   Renderer interfaces.
 */
+/*!
+  \ingroup group_ar_renderer
+  \defgroup group_ar_renderer_panda3d Panda3D Renderer
+  Modular renderers based on the Panda3D framework.
+*/
+/*!
+  \ingroup group_ar_renderer_panda3d
+  \defgroup group_ar_renderer_panda3d_3d 3D scene renderers
+  Classes that render a 3D scene.
+*/
+/*!
+  \ingroup group_ar_renderer_panda3d
+  \defgroup group_ar_renderer_panda3d_filters Image processing
+  Shader-based image processing and filtering.
+*/
+/*!
+  \ingroup group_ar_renderer_panda3d
+  \defgroup group_ar_renderer_panda3d_lighting Lighting related classes
+  Light and Lightable implementations.
+*/
+
 /*!
   \ingroup module_ar
   \defgroup group_ar_simulator Simulator

doc/tutorial/rendering/tutorial-panda3d.dox

@@ -0,0 +1,6 @@
+/**
+\page tutorial-panda3d Rendering a 3D scene with Panda3D
+\tableofcontents
+
+\section tutorial-panda3d-intro Introduction
+*/

doc/tutorial/tutorial-users.dox

@@ -11,6 +11,8 @@ This page references all the tutorials to use and contribute to ViSP.
 
 - \subpage tutorial_calib
 
+- \subpage tutorial_rendering
+
 - \subpage tutorial_tracking
 
 - \subpage tutorial_detection
@@ -85,6 +87,12 @@ This page introduces the user to the way to calibrate a camera.
 - \subpage tutorial-calibration-extrinsic <br>This tutorial explains how to get the camera eye-in-hand extrinsic transformation when the camera is mounted on a robot end-effector.
 */
 
+/*! \page tutorial_rendering 3D rendering and augmented reality
+This page gives an introduction to using the 3D rendering tools integrated into ViSP.
+
+- \subpage tutorial-panda3d <br>This tutorial gives an overview of the rendering capabilities of the Panda3D wrapper.
+*/
+
 /*! \page tutorial_tracking Tracking
 This page introduces the user to the way to track objects in images.
 

modules/ar/CMakeLists.txt

@@ -173,6 +173,15 @@ if(USE_COIN3D)
   endif()
 endif()
 
+if(USE_PANDA3D)
+  if(Panda3D_INCLUDE_DIRS)
+    list(APPEND opt_incs ${Panda3D_INCLUDE_DIRS})
+  endif()
+  if(Panda3D_LIBRARIES)
+  list(APPEND opt_libs ${Panda3D_LIBRARIES})
+  endif()
+endif()
+
 vp_add_module(ar visp_core)
 vp_glob_module_sources()
 
@@ -181,5 +190,17 @@ if(USE_OGRE)
   vp_set_source_file_compile_flag(src/ogre-simulator/vpAROgre.cpp -Wno-unused-parameter -Wno-unused-but-set-parameter -Wno-overloaded-virtual -Wno-float-equal -Wno-deprecated-copy -Wno-register)
 endif()
 
+if(USE_PANDA3D)
+  set(PANDA3D_CXX_FLAGS -Wno-unused-parameter -Wno-unused-variable -Wno-extra -Wno-reorder-ctor)
+  set(PANDA3D_MODULE_SOURCES
+    vpPanda3DBaseRenderer.cpp vpPanda3DGeometryRenderer.cpp
+    vpPanda3DRGBRenderer.cpp vpPanda3DRenderParameters.cpp
+    vpPanda3DRendererSet.cpp vpPanda3DPostProcessFilter.cpp vpPanda3DCommonFilters.cpp
+  )
+  foreach(panda_src_name ${PANDA3D_MODULE_SOURCES})
+    vp_set_source_file_compile_flag(src/panda3d-simulator/${panda_src_name} ${PANDA3D_CXX_FLAGS})
+  endforeach()
+endif()
+
 vp_module_include_directories(${opt_incs})
 vp_create_module(${opt_libs})