130 lines
3.9 KiB
C++
130 lines
3.9 KiB
C++
#include <iostream>
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#include <pangolin/pangolin.h>
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struct CustomType
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{
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CustomType()
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: x(0), y(0.0f) {}
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CustomType(int x, float y, std::string z)
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: x(x), y(y), z(z) {}
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int x;
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float y;
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std::string z;
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};
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std::ostream& operator<< (std::ostream& os, const CustomType& o){
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os << o.x << " " << o.y << " " << o.z;
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return os;
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}
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std::istream& operator>> (std::istream& is, CustomType& o){
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is >> o.x;
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is >> o.y;
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is >> o.z;
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return is;
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}
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void SampleMethod()
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{
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std::cout << "You typed ctrl-r or pushed reset" << std::endl;
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}
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int main(/*int argc, char* argv[]*/)
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{
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// Load configuration data
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pangolin::ParseVarsFile("app.cfg");
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// Create OpenGL window in single line
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pangolin::CreateWindowAndBind("Main",640,480);
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// 3D Mouse handler requires depth testing to be enabled
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glEnable(GL_DEPTH_TEST);
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// Define Camera Render Object (for view / scene browsing)
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pangolin::OpenGlRenderState s_cam(
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pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000),
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pangolin::ModelViewLookAt(-0,0.5,-3, 0,0,0, pangolin::AxisY)
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);
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const int UI_WIDTH = 180;
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// Add named OpenGL viewport to window and provide 3D Handler
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pangolin::View& d_cam = pangolin::CreateDisplay()
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.SetBounds(0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0, -640.0f/480.0f)
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.SetHandler(new pangolin::Handler3D(s_cam));
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// Add named Panel and bind to variables beginning 'ui'
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// A Panel is just a View with a default layout and input handling
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pangolin::CreatePanel("ui")
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.SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(UI_WIDTH));
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// Safe and efficient binding of named variables.
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// Specialisations mean no conversions take place for exact types
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// and conversions between scalar types are cheap.
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pangolin::Var<bool> a_button("ui.A_Button",false,false);
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pangolin::Var<double> a_double("ui.A_Double",3,0,5);
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pangolin::Var<int> an_int("ui.An_Int",2,0,5);
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pangolin::Var<double> a_double_log("ui.Log_scale var",3,1,1E4, true);
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pangolin::Var<bool> a_checkbox("ui.A_Checkbox",false,true);
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pangolin::Var<int> an_int_no_input("ui.An_Int_No_Input",2);
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pangolin::Var<CustomType> any_type("ui.Some_Type", CustomType(0,1.2f,"Hello") );
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pangolin::Var<bool> save_window("ui.Save_Window",false,false);
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pangolin::Var<bool> save_cube("ui.Save_Cube",false,false);
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pangolin::Var<bool> record_cube("ui.Record_Cube",false,false);
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// std::function objects can be used for Var's too. These work great with C++11 closures.
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pangolin::Var<std::function<void(void)> > reset("ui.Reset", SampleMethod);
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// Demonstration of how we can register a keyboard hook to alter a Var
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pangolin::RegisterKeyPressCallback(pangolin::PANGO_CTRL + 'b', pangolin::SetVarFunctor<double>("ui.A_Double", 3.5));
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// Demonstration of how we can register a keyboard hook to trigger a method
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pangolin::RegisterKeyPressCallback(pangolin::PANGO_CTRL + 'r', SampleMethod);
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// Default hooks for exiting (Esc) and fullscreen (tab).
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while( !pangolin::ShouldQuit() )
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{
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// Clear entire screen
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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if( pangolin::Pushed(a_button) )
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std::cout << "You Pushed a button!" << std::endl;
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// Overloading of Var<T> operators allows us to treat them like
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// their wrapped types, eg:
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if( a_checkbox )
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an_int = (int)a_double;
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if( !any_type->z.compare("robot"))
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any_type = CustomType(1,2.3f,"Boogie");
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an_int_no_input = an_int;
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if( pangolin::Pushed(save_window) )
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pangolin::SaveWindowOnRender("window");
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if( pangolin::Pushed(save_cube) )
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d_cam.SaveOnRender("cube");
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if( pangolin::Pushed(record_cube) )
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pangolin::DisplayBase().RecordOnRender("ffmpeg:[fps=50,bps=8388608,unique_filename]//screencap.avi");
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// Activate efficiently by object
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d_cam.Activate(s_cam);
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// Render some stuff
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glColor3f(1.0,1.0,1.0);
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pangolin::glDrawColouredCube();
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// Swap frames and Process Events
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pangolin::FinishFrame();
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}
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return 0;
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}
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