v01

thirdparty/Pangolin/examples/SimpleScene/CMakeLists.txt

@@ -0,0 +1,6 @@
+# Find Pangolin (https://github.com/stevenlovegrove/Pangolin)
+find_package(Pangolin 0.4 REQUIRED)
+include_directories(${Pangolin_INCLUDE_DIRS})
+
+add_executable(SimpleScene main.cpp)
+target_link_libraries(SimpleScene ${Pangolin_LIBRARIES})

thirdparty/Pangolin/examples/SimpleScene/main.cpp

@@ -0,0 +1,40 @@
+#include <pangolin/pangolin.h>
+#include <pangolin/scene/axis.h>
+#include <pangolin/scene/scenehandler.h>
+
+int main( int /*argc*/, char** /*argv*/ )
+{
+    pangolin::CreateWindowAndBind("Main",640,480);
+    glEnable(GL_DEPTH_TEST);
+
+    // Define Projection and initial ModelView matrix
+    pangolin::OpenGlRenderState s_cam(
+        pangolin::ProjectionMatrix(640,480,420,420,320,240,0.2,100),
+        pangolin::ModelViewLookAt(-2,2,-2, 0,0,0, pangolin::AxisY)
+    );
+
+    pangolin::Renderable tree;
+    tree.Add( std::make_shared<pangolin::Axis>() );
+
+    // Create Interactive View in window
+    pangolin::SceneHandler handler(tree, s_cam);
+    pangolin::View& d_cam = pangolin::CreateDisplay()
+            .SetBounds(0.0, 1.0, 0.0, 1.0, -640.0f/480.0f)
+            .SetHandler(&handler);
+
+    d_cam.SetDrawFunction([&](pangolin::View& view){
+        view.Activate(s_cam);
+        tree.Render();
+    });
+
+    while( !pangolin::ShouldQuit() )
+    {
+        // Clear screen and activate view to render into
+        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+        // Swap frames and Process Events
+        pangolin::FinishFrame();
+    }
+
+    return 0;
+}