Merge pull request #1388 from SamFlt/feat_panda3d

[WIP] Include new Panda3D

CMakeLists.txt

@@ -626,6 +626,7 @@ 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)
@@ -1089,6 +1090,7 @@ 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))
@@ -1729,13 +1731,15 @@ 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")

ChangeLog.txt

@@ -37,6 +37,8 @@ ViSP 3.x.x (Version in development)
     . New vpImageTools::inRange() functions to ease binary mask computation by thresholding HSV channels
     . New tutorials in tutorial/segmentation/color folder to show how to use HSV color segmentation to
       extract the corresponding point cloud
+    . New scene renderer based on Panda3D. See inheritance diagram for vpPanda3DBaseRenderer class and corresponding
+      tutorial.
   - Applications
     . Migrate eye-to-hand tutorials in apps
   - Tutorials
@@ -57,6 +59,8 @@ ViSP 3.x.x (Version in development)
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-hsv-segmentation-live.html
     . New tutorial: Point cloud segmentation using HSV color scale
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-hsv-segmentation-pcl.html
+    . New tutorial: Rendering a 3D scene with Panda3D
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-panda3d.html
   - Bug fixed
     . [#1251] Bug in vpDisplay::displayFrame()
     . [#1270] Build issue around std::clamp and optional header which are not found with cxx17

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

@@ -242,6 +242,7 @@ 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

@@ -304,6 +304,9 @@ namespace vp = VISP_NAMESPACE_NAME;
 // 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

@@ -2411,6 +2411,7 @@ 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

@@ -416,6 +416,27 @@ 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