vpPanda3DDepthFilters.h

/*
 * 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.
 */

#ifndef VP_PANDA3D_DEPTH_FILTERS_H
#define VP_PANDA3D_DEPTH_FILTERS_H
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PANDA3D)
 
#include <visp3/core/vpRect.h>
#include <visp3/ar/vpPanda3DPostProcessFilter.h>
 
#include <visp3/ar/vpPanda3DGeometryRenderer.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPanda3DDepthGaussianBlur : public vpPanda3DPostProcessFilter
{
public:
  vpPanda3DDepthGaussianBlur(const std::string &name, std::shared_ptr<vpPanda3DBaseRenderer> inputRenderer, bool isOutput);
  FrameBufferProperties getBufferProperties() const VP_OVERRIDE;
  void getRender(vpImage<unsigned char> &I) const;
 
private:
  static const std::string FRAGMENT_SHADER;
};

class VISP_EXPORT vpPanda3DDepthCannyFilter : public vpPanda3DPostProcessFilter
{
public:
  vpPanda3DDepthCannyFilter(const std::string &name, std::shared_ptr<vpPanda3DGeometryRenderer> inputRenderer, bool isOutput, float edgeThreshold);
  FrameBufferProperties getBufferProperties() const VP_OVERRIDE;
  PointerTo<Texture> setupTexture(const FrameBufferProperties &fbp) const VP_OVERRIDE;
  void getRender(vpImage<float> &I, vpImage<unsigned char> &valid) const;
  void getRender(vpImage<float> &I, vpImage<unsigned char> &valid, const vpRect &bb, unsigned int h, unsigned w) const;
 
  void setEdgeThreshold(float edgeThreshold);
 
protected:
  void setupScene() VP_OVERRIDE;
 
private:
  static const std::string FRAGMENT_SHADER;
  float m_edgeThreshold;
  bool m_inputIsFast;
};
 
END_VISP_NAMESPACE
 
#endif
#endif