41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
#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;
|
|
}
|