v01

thirdparty/Pangolin/examples/VBODisplay/main.cpp

@@ -0,0 +1,84 @@
+#include <iostream>
+
+#include <GL/glew.h>
+
+#include <pangolin/pangolin.h>
+#include <pangolin/gl/glcuda.h>
+#include <pangolin/gl/glvbo.h>
+
+#include <cuda_runtime.h>
+#include <cuda_gl_interop.h>
+#include <vector_types.h>
+
+using namespace pangolin;
+using namespace std;
+
+// Mesh size
+const int mesh_width=256;
+const int mesh_height=256;
+
+extern "C" void launch_kernel(float4* dVertexArray, uchar4* dColourArray, unsigned int width, unsigned int height, float time);
+
+int main( int /*argc*/, char* argv[] )
+{
+//  cudaGLSetGLDevice(0);
+
+  pangolin::CreateWindowAndBind("Main",640,480);
+  glewInit();
+  
+  // 3D Mouse handler requires depth testing to be enabled  
+  glEnable(GL_DEPTH_TEST);  
+
+  // Create vertex and colour buffer objects and register them with CUDA
+  GlBufferCudaPtr vertex_array(
+      GlArrayBuffer, mesh_width*mesh_height, GL_FLOAT, 4,
+      cudaGraphicsMapFlagsWriteDiscard, GL_STREAM_DRAW
+  );
+  GlBufferCudaPtr colour_array(
+      GlArrayBuffer, mesh_width*mesh_height, GL_UNSIGNED_BYTE, 4,
+      cudaGraphicsMapFlagsWriteDiscard, GL_STREAM_DRAW
+  );
+
+  // Define Camera Render Object (for view / scene browsing)
+  pangolin::OpenGlRenderState s_cam(
+    ProjectionMatrix(640,480,420,420,320,240,0.1,1000),
+    ModelViewLookAt(-0,2,-2, 0,0,0, AxisY)
+  );
+  const int UI_WIDTH = 180;
+
+  // Add named OpenGL viewport to window and provide 3D Handler
+  View& d_cam = pangolin::Display("cam")
+    .SetBounds(0.0, 1.0, Attach::Pix(UI_WIDTH), 1.0, -640.0f/480.0f)
+    .SetHandler(new Handler3D(s_cam));
+
+  // Add named Panel and bind to variables beginning 'ui'
+  // A Panel is just a View with a default layout and input handling
+  View& d_panel = pangolin::CreatePanel("ui")
+      .SetBounds(0.0, 1.0, 0.0, Attach::Pix(UI_WIDTH));
+
+  // Default hooks for exiting (Esc) and fullscreen (tab).
+  for(int frame=0; !pangolin::ShouldQuit(); ++frame)
+  {
+    static double time = 0;
+    static Var<double> delta("ui.time delta", 0.001, 0, 0.005);
+
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+    d_cam.Activate(s_cam);
+    glColor3f(1.0,1.0,1.0);
+
+    {
+      CudaScopedMappedPtr var(vertex_array);
+      CudaScopedMappedPtr car(colour_array);
+      launch_kernel((float4*)*var,(uchar4*)*car,mesh_width,mesh_height,time);
+      time += delta;
+    }
+
+    pangolin::RenderVboCbo(vertex_array, colour_array);
+
+    // Swap frames and Process Events
+    pangolin::FinishFrame();
+  }
+
+  return 0;
+}