v01

thirdparty/Pangolin/examples/SimpleDisplay/CMakeLists.txt

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+# Find Pangolin (https://github.com/stevenlovegrove/Pangolin)
+find_package(Pangolin 0.4 REQUIRED)
+include_directories(${Pangolin_INCLUDE_DIRS})
+
+add_executable(SimpleDisplay main.cpp)
+target_link_libraries(SimpleDisplay ${Pangolin_LIBRARIES} )
+

thirdparty/Pangolin/examples/SimpleDisplay/app.cfg

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+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Pangolin Sample configuration file
+%  Comments start with '%' or '#'
+%
+%  Declarations are name value pairs,
+%  seperated with '=' and terminated with ';'
+
+% We can set any variable referenced in code directly
+ui.A Double = 3.2;
+ui.A Checkbox = false;
+
+% We can set unreferenced variables too
+a.b = 1;
+a.c = 2;
+z.b = 3;
+z.c = 4;
+start = z;
+
+% Which we might refer to by reference
+ui.An Int = ${${start}.c};
+
+% Declarations can span multiple lines
+M =
+[1, 0, 0
+ 0, 1, 0
+ 0, 0, 1];

thirdparty/Pangolin/examples/SimpleDisplay/main.cpp

@@ -0,0 +1,129 @@
+#include <iostream>
+#include <pangolin/pangolin.h>
+
+struct CustomType
+{
+  CustomType()
+    : x(0), y(0.0f) {}
+
+  CustomType(int x, float y, std::string z)
+    : x(x), y(y), z(z) {}
+
+  int x;
+  float y;
+  std::string z;
+};
+
+std::ostream& operator<< (std::ostream& os, const CustomType& o){
+  os << o.x << " " << o.y << " " << o.z;
+  return os;
+}
+
+std::istream& operator>> (std::istream& is, CustomType& o){
+  is >> o.x;
+  is >> o.y;
+  is >> o.z;
+  return is;
+}
+
+void SampleMethod()
+{
+    std::cout << "You typed ctrl-r or pushed reset" << std::endl;
+}
+
+
+int main(/*int argc, char* argv[]*/)
+{  
+  // Load configuration data
+  pangolin::ParseVarsFile("app.cfg");
+
+  // Create OpenGL window in single line
+  pangolin::CreateWindowAndBind("Main",640,480);
+  
+  // 3D Mouse handler requires depth testing to be enabled
+  glEnable(GL_DEPTH_TEST);
+
+  // Define Camera Render Object (for view / scene browsing)
+  pangolin::OpenGlRenderState s_cam(
+    pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000),
+    pangolin::ModelViewLookAt(-0,0.5,-3, 0,0,0, pangolin::AxisY)
+  );
+
+  const int UI_WIDTH = 180;
+
+  // Add named OpenGL viewport to window and provide 3D Handler
+  pangolin::View& d_cam = pangolin::CreateDisplay()
+    .SetBounds(0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0, -640.0f/480.0f)
+    .SetHandler(new pangolin::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
+  pangolin::CreatePanel("ui")
+      .SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(UI_WIDTH));
+
+  // Safe and efficient binding of named variables.
+  // Specialisations mean no conversions take place for exact types
+  // and conversions between scalar types are cheap.
+  pangolin::Var<bool> a_button("ui.A_Button",false,false);
+  pangolin::Var<double> a_double("ui.A_Double",3,0,5);
+  pangolin::Var<int> an_int("ui.An_Int",2,0,5);
+  pangolin::Var<double> a_double_log("ui.Log_scale var",3,1,1E4, true);
+  pangolin::Var<bool> a_checkbox("ui.A_Checkbox",false,true);
+  pangolin::Var<int> an_int_no_input("ui.An_Int_No_Input",2);
+  pangolin::Var<CustomType> any_type("ui.Some_Type", CustomType(0,1.2f,"Hello") );
+
+  pangolin::Var<bool> save_window("ui.Save_Window",false,false);
+  pangolin::Var<bool> save_cube("ui.Save_Cube",false,false);
+
+  pangolin::Var<bool> record_cube("ui.Record_Cube",false,false);
+
+  // std::function objects can be used for Var's too. These work great with C++11 closures.
+  pangolin::Var<std::function<void(void)> > reset("ui.Reset", SampleMethod);
+
+  // Demonstration of how we can register a keyboard hook to alter a Var
+  pangolin::RegisterKeyPressCallback(pangolin::PANGO_CTRL + 'b', pangolin::SetVarFunctor<double>("ui.A_Double", 3.5));
+
+  // Demonstration of how we can register a keyboard hook to trigger a method
+  pangolin::RegisterKeyPressCallback(pangolin::PANGO_CTRL + 'r', SampleMethod);
+
+  // Default hooks for exiting (Esc) and fullscreen (tab).
+  while( !pangolin::ShouldQuit() )
+  {
+    // Clear entire screen
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);    
+
+    if( pangolin::Pushed(a_button) )
+      std::cout << "You Pushed a button!" << std::endl;
+
+    // Overloading of Var<T> operators allows us to treat them like
+    // their wrapped types, eg:
+    if( a_checkbox )
+      an_int = (int)a_double;
+
+    if( !any_type->z.compare("robot"))
+        any_type = CustomType(1,2.3f,"Boogie");
+
+    an_int_no_input = an_int;
+
+    if( pangolin::Pushed(save_window) )
+        pangolin::SaveWindowOnRender("window");
+
+    if( pangolin::Pushed(save_cube) )
+        d_cam.SaveOnRender("cube");
+    
+    if( pangolin::Pushed(record_cube) )
+        pangolin::DisplayBase().RecordOnRender("ffmpeg:[fps=50,bps=8388608,unique_filename]//screencap.avi");
+
+    // Activate efficiently by object
+    d_cam.Activate(s_cam);
+
+    // Render some stuff
+    glColor3f(1.0,1.0,1.0);
+    pangolin::glDrawColouredCube();
+
+    // Swap frames and Process Events
+    pangolin::FinishFrame();
+  }
+
+  return 0;
+}