73 lines
2.4 KiB
C++
73 lines
2.4 KiB
C++
#include <limits>
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#include <iostream>
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#include <pangolin/pangolin.h>
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void setImageData(unsigned char * imageArray, int size){
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for(int i = 0 ; i < size;i++) {
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imageArray[i] = (unsigned char)(rand()/(RAND_MAX/255.0));
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}
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}
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int main(/*int argc, char* argv[]*/)
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{
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// Create OpenGL window in single line
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pangolin::CreateWindowAndBind("Main",640,480);
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// 3D Mouse handler requires depth testing to be enabled
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glEnable(GL_DEPTH_TEST);
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pangolin::OpenGlRenderState s_cam(
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pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000),
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pangolin::ModelViewLookAt(-1,1,-1, 0,0,0, pangolin::AxisY)
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);
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// Aspect ratio allows us to constrain width and height whilst fitting within specified
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// bounds. A positive aspect ratio makes a view 'shrink to fit' (introducing empty bars),
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// whilst a negative ratio makes the view 'grow to fit' (cropping the view).
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pangolin::View& d_cam = pangolin::Display("cam")
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.SetBounds(0,1.0f,0,1.0f,-640/480.0)
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.SetHandler(new pangolin::Handler3D(s_cam));
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// This view will take up no more than a third of the windows width or height, and it
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// will have a fixed aspect ratio to match the image that it will display. When fitting
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// within the specified bounds, push to the top-left (as specified by SetLock).
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pangolin::View& d_image = pangolin::Display("image")
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.SetBounds(2/3.0f,1.0f,0,1/3.0f,640.0/480)
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.SetLock(pangolin::LockLeft, pangolin::LockTop);
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std::cout << "Resize the window to experiment with SetBounds, SetLock and SetAspect." << std::endl;
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std::cout << "Notice that the cubes aspect is maintained even though it covers the whole screen." << std::endl;
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const int width = 64;
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const int height = 48;
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unsigned char* imageArray = new unsigned char[3*width*height];
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pangolin::GlTexture imageTexture(width,height,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);
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// Default hooks for exiting (Esc) and fullscreen (tab).
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while(!pangolin::ShouldQuit())
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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d_cam.Activate(s_cam);
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glColor3f(1.0,1.0,1.0);
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pangolin::glDrawColouredCube();
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//Set some random image data and upload to GPU
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setImageData(imageArray,3*width*height);
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imageTexture.Upload(imageArray,GL_RGB,GL_UNSIGNED_BYTE);
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//display the image
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d_image.Activate();
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glColor3f(1.0,1.0,1.0);
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imageTexture.RenderToViewport();
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pangolin::FinishFrame();
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}
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delete[] imageArray;
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return 0;
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}
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