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Update Panda3D tutorial #1584

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91 changes: 64 additions & 27 deletions doc/tutorial/rendering/tutorial-panda3d.dox
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Original file line number Diff line number Diff line change
Expand Up @@ -93,29 +93,28 @@ vpPanda3DBaseRenderer, which implements basic functions for a panda renderer.
\subsection tutorial-panda3d-install-macos Installation on macOS

- Installer are available for macOS browsing the [download](https://www.panda3d.org/download/) page.
\note For the latest Panda3D 1.10.14 SDK there is an `Installer for macOS X 10.9+` that is only compatible with
\note For the latest Panda3D 1.10.15 SDK there is an `Installer for macOS X 10.9+` that is only compatible with
architecture `x86_64`. If you are using a Mac M1 or M2, there is no Panda3D SDK available yet for `arm64`
architecture. The solution is to build Panda3D from source.

- Hereafter you will find the instructions to build Panda3D from source on macOS.

- It is recommended to install the assimp package before installing Panda3D. This will allow you to load .obj files, which are a common and easily exportable format.
Without it, you will be restricted to .bam files, which is a panda specific format. To convert to a .bam file, see \ref tutorial-panda3d-file-conversion.

To install assimp, run:
\code{.sh}
$ brew install assimp
\endcode
Without it, you will be restricted to .bam files, which is a panda specific format. To convert to a .bam file, see \ref tutorial-panda3d-file-conversion.
To install assimp, run:
\code{.sh}
$ brew install assimp
\endcode

- On macOS, you will need to download a set of precompiled third-party packages in order to compile Panda3D.
Navigate to PandaED [download page](https://www.panda3d.org/download/), select the lastest SDK
(in our case SDK 1.10.14), and under `</> Source Code` section, download
[Thirdparty tools for macOS](https://www.panda3d.org/download/panda3d-1.10.14/panda3d-1.10.14-tools-mac.tar.gz)
(in our case `panda3d-1.10.14-tools-mac.tar.gz`).
Navigate to Panda3D [download page](https://www.panda3d.org/download/), select the lastest SDK
(in our case SDK 1.10.15), and under `</> Source Code` section, download
[Thirdparty tools for macOS](https://www.panda3d.org/download/panda3d-1.10.15/panda3d-1.10.15-tools-mac.tar.gz)
(in our case `panda3d-1.10.15-tools-mac.tar.gz`).
- Extract third-party tools for macOS from downloaded archive
\code{.sh}
$ cd ~/Downloads
$ tar xvzf panda3d-1.10.14-tools-mac.tar.gz
$ tar xvzf panda3d-1.10.15-tools-mac.tar.gz
\endcode
- Once done clone Panda3D:
\code{.sh}
Expand All @@ -126,15 +125,18 @@ vpPanda3DBaseRenderer, which implements basic functions for a panda renderer.
\endcode
- Move the downloaded third-party tools in Panda3D source code folder
\code{.sh}
$ mv ~/Downloads/panda3d-1.10.14/thirdparty .
$ mv ~/Downloads/panda3d-1.10.15/thirdparty .
\endcode
- Build Panda3D from source
\code{.sh}
$ python3 makepanda/makepanda.py --everything --installer --no-opencv --no-python --threads $(sysctl -n hw.logicalcpu)
...
created: $VISP_WS/3rdparty/panda3d/panda3d/Panda3D-1.11.0.dmg
\endcode
If you encounter the following issue \ref tutorial-panda3d-issue-MacOSX-sdk-not-found, see the corresponding section.

- At this point you can either
1. install the produced `Panda3D-1.11.0-py3.9.dmg` file (recommended) just by double clicking on it. In the
1. install the produced `Panda3D-1.11.0.dmg` file (recommended) just by double clicking on it. In the
installer window, don't forget to enable the `C++ Header Files` check box before pressing the installation button.
After that you have to set `DYLIB_LIBRARY_PATH` environment var:
\code{.sh}
Expand All @@ -153,7 +155,7 @@ vpPanda3DBaseRenderer, which implements basic functions for a panda renderer.
dyld[257]: Library not loaded: @loader_path/../lib/libpanda.1.11.dylib
\endcode

- Now to build ViSP with Panda3D support when `.dmg` file `Panda3D-1.11.0-py3.9.dmg` is installed, you can just
- Now to build ViSP with Panda3D support when `.dmg` file `Panda3D-1.11.0.dmg` is installed, you can just
run cmake as usual. Note that PCL is not compatible with Panda3D, that's why we disable here PCL usage
(see \ref tutorial-panda3d-issue-segfault-macOS).
\code{.sh}
Expand Down Expand Up @@ -202,7 +204,6 @@ If you have Python, you can easily convert your model to a .bam file by doing th
An example that shows how to exploit Panda3D in ViSP to render a color image with support for textures and lighting, a
depth image, normals in object space and in camera space is given in tutorial-panda3d-renderer.cpp.


To start rendering, we first instanciate a vpPanda3DRendererSet. This object allows to render multiple modalities (color, depth, etc.) in a single pass.
To add different rendering modalities, we will use subclasses that will be registered to the renderer set.
Internally, each sub renderer has its own scene: the renderer set synchronizes everything when the state changes (i.e, an object is added, an object is moved or the camera parameters change.)
Expand Down Expand Up @@ -287,27 +288,27 @@ The full code of tutorial-panda3d-renderer.cpp is given below.

This error occurs on macOS.

```
\code{.sh}
% cd $VISP_WS/visp-build/tutorial/ar/
% ./tutorial-panda3d-renderer
dyld[1795]: Library not loaded: @loader_path/../lib/libpanda.1.11.dylib
Referenced from: <0D61FFE0-73FA-3053-8D8D-8912BFF16E36> /Users/fspindle/soft/visp/visp_ws/test-pr/visp-SamFlt/visp-build/tutorial/ar/tutorial-panda3d-renderer
Reason: tried: '/Users/fspindle/soft/visp/visp_ws/test-pr/visp-SamFlt/visp-build/tutorial/ar/../lib/libpanda.1.11.dylib' (no such file)
zsh: abort ./tutorial-panda3d-renderer
```
\endcode

It occurs when you didn't follow carefully the instructions mentionned in \ref tutorial-panda3d-install-macos section.

A quick fix is to add the path to the library in `DYLD_LIBRARY_PATH` env var:
```
\code{.sh}
$ export DYLD_LIBRARY_PATH=/Library/Developer/Panda3D/lib:$DYLD_LIBRARY_PATH
```
\endcode

\subsection tutorial-panda3d-issue-segfault-macOS Segfault: :framework(error): Unable to create window

This error occurs on macOS.

```
\code{.sh}
% cd $VISP_WS/visp-build/tutorial/ar/
% ./tutorial-panda3d-renderer
Initializing Panda3D rendering framework
Expand All @@ -316,9 +317,9 @@ Known pipe types:
(all display modules loaded.)
:framework(error): Unable to create window.
zsh: segmentation fault ./tutorial-panda3d-renderer
```
\endcode
This issue is probably due to `EIGEN_MAX_ALIGN_BYTES` and `HAVE_PNG` macro redefinition that occurs when building ViSP with Panda3D support:
```
\code{.sh}
$ cd visp-build
$ make
...
Expand Down Expand Up @@ -361,12 +362,48 @@ $VISP_WS/3rdparty/panda3d/panda3d/built/include/dtoolbase.h:432:9: warning: 'EIG
3 warnings generated.
[100%] Linking CXX executable tutorial-panda3d-renderer
[100%] Built target tutorial-panda3d-renderer
```
\endcode
The work around consists in disabling `PCL` usage during ViSP configuration
```
\code{.sh}
$ cd $VISP_WS/visp-build
$ cmake ../visp -DUSE_PCL=OFF
$ make -j$(sysctl -n hw.logicalcpu)
```

\endcode

\subsection tutorial-panda3d-issue-MacOSX-sdk-not-found Couldn't find any suitable MacOSX SDK!

The following error may occur when building Panda3D from source on macOS Sequoia 15.3.1.
\code{.sh}
% python3 makepanda/makepanda.py --everything --installer --no-opencv --no-python --threads $(sysctl -n hw.logicalcpu)
Version: 1.11.0
Platform: macosx-11.0-arm64
Storing dependency cache.
Elapsed Time: 0 sec
Couldn't find any suitable MacOSX SDK!
\endcode
The installer calls `makepanda/makepandacore.py` and enters in `SdkLocateMacOSX()` function to try to find the latest MacOSX SDK
in one of the following folders:
- `/Library/Developer/CommandLineTools/SDKs/`
- `/Developer/SDKs/`
- `/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/`

Inside `SdkLocateMacOSX()` you will find a list of expected SDK versions, like:
\code{.sh}
sdk_versions += ["14.0", "13.3", "13.1", "13.0", "12.3", "11.3", "11.1", "11.0"]
\endcode
while you may have the following SDK versions:
\code{.sh}
$ ls /Library/Developer/CommandLineTools/SDKs/
MacOSX.sdk MacOSX14.5.sdk MacOSX14.sdk MacOSX15.2.sdk MacOSX15.sdk
\endcode
In our case the fix consists in adding 15.2 SDK version to the list of expected SDKs.
\code{.sh}
sdk_versions += ["15.2", "14.0", "13.3", "13.1", "13.0", "12.3", "11.3", "11.1", "11.0"]
\endcode
Now you should be able to build Panda3D with:
\code{.sh}
% python3 makepanda/makepanda.py --everything --installer --no-opencv --no-python --threads $(sysctl -n hw.logicalcpu)
...
created: $VISP_WS/3rdparty/panda3d/panda3d/Panda3D-1.11.0.dmg
\endcode
*/
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