v01

thirdparty/Pangolin/examples/SimpleDisplayImage/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(SimpleDisplayImage main.cpp)
+target_link_libraries(SimpleDisplayImage ${Pangolin_LIBRARIES})

thirdparty/Pangolin/examples/SimpleDisplayImage/main.cpp

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