107 lines
3.2 KiB
C++
107 lines
3.2 KiB
C++
#include <iostream>
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#include <pangolin/pangolin.h>
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void setImageData(unsigned char * imageArray, int size){
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for(int i = 0 ; i < size;i++) {
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imageArray[i] = (unsigned char)(rand()/(RAND_MAX/255.0));
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}
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}
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int main(/*int argc, char* argv[]*/)
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{
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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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// Issue specific OpenGl we might need
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glEnable (GL_BLEND);
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glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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// Define Camera Render Object (for view / scene browsing)
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pangolin::OpenGlMatrix proj = pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000);
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pangolin::OpenGlRenderState s_cam(proj, pangolin::ModelViewLookAt(1,0.5,-2,0,0,0, pangolin::AxisY) );
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pangolin::OpenGlRenderState s_cam2(proj, pangolin::ModelViewLookAt(0,0,-2,0,0,0, pangolin::AxisY) );
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// Add named OpenGL viewport to window and provide 3D Handler
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pangolin::View& d_cam1 = pangolin::Display("cam1")
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.SetAspect(640.0f/480.0f)
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.SetHandler(new pangolin::Handler3D(s_cam));
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pangolin::View& d_cam2 = pangolin::Display("cam2")
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.SetAspect(640.0f/480.0f)
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.SetHandler(new pangolin::Handler3D(s_cam2));
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pangolin::View& d_cam3 = pangolin::Display("cam3")
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.SetAspect(640.0f/480.0f)
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.SetHandler(new pangolin::Handler3D(s_cam));
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pangolin::View& d_cam4 = pangolin::Display("cam4")
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.SetAspect(640.0f/480.0f)
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.SetHandler(new pangolin::Handler3D(s_cam2));
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pangolin::View& d_img1 = pangolin::Display("img1")
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.SetAspect(640.0f/480.0f);
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pangolin::View& d_img2 = pangolin::Display("img2")
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.SetAspect(640.0f/480.0f);
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// LayoutEqual is an EXPERIMENTAL feature - it requires that all sub-displays
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// share the same aspect ratio, placing them in a raster fasion in the
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// viewport so as to maximise display size.
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pangolin::Display("multi")
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.SetBounds(0.0, 1.0, 0.0, 1.0)
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.SetLayout(pangolin::LayoutEqual)
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.AddDisplay(d_cam1)
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.AddDisplay(d_img1)
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.AddDisplay(d_cam2)
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.AddDisplay(d_img2)
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.AddDisplay(d_cam3)
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.AddDisplay(d_cam4);
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const int width = 64;
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const int height = 48;
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unsigned char* imageArray = new unsigned char[3*width*height];
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pangolin::GlTexture imageTexture(width,height,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);
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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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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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// Generate random image and place in texture memory for display
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setImageData(imageArray,3*width*height);
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imageTexture.Upload(imageArray,GL_RGB,GL_UNSIGNED_BYTE);
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glColor3f(1.0,1.0,1.0);
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d_cam1.Activate(s_cam);
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pangolin::glDrawColouredCube();
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d_cam2.Activate(s_cam2);
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pangolin::glDrawColouredCube();
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d_cam3.Activate(s_cam);
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pangolin::glDrawColouredCube();
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d_cam4.Activate(s_cam2);
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pangolin::glDrawColouredCube();
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d_img1.Activate();
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glColor4f(1.0f,1.0f,1.0f,1.0f);
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imageTexture.RenderToViewport();
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d_img2.Activate();
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glColor4f(1.0f,1.0f,1.0f,1.0f);
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imageTexture.RenderToViewport();
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// Swap frames and Process Events
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pangolin::FinishFrame();
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}
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delete[] imageArray;
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return 0;
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}
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