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#include <pangolin/display/display.h>
#include <pangolin/display/view.h>
#include <pangolin/gl/gl.h>
#include <thread>
static const std::string window_name = "HelloPangolinThreads";
void setup() {
// create a window and bind its context to the main thread
pangolin::CreateWindowAndBind(window_name, 640, 480);
// enable depth
glEnable(GL_DEPTH_TEST);
// unset the current context from the main thread
pangolin::GetBoundWindow()->RemoveCurrent();
}
void run() {
// fetch the context and bind it to this thread
pangolin::BindToContext(window_name);
// we manually need to restore the properties of the context
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)
);
// Create Interactive View in window
pangolin::Handler3D handler(s_cam);
pangolin::View& d_cam = pangolin::CreateDisplay()
.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0f/480.0f)
.SetHandler(&handler);
while( !pangolin::ShouldQuit() )
{
// Clear screen and activate view to render into
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
d_cam.Activate(s_cam);
// Render OpenGL Cube
pangolin::glDrawColouredCube();
// Swap frames and Process Events
pangolin::FinishFrame();
}
// unset the current context from the main thread
pangolin::GetBoundWindow()->RemoveCurrent();
}
int main( int /*argc*/, char** /*argv*/ )
{
// create window and context in the main thread
setup();
// use the context in a separate rendering thread
std::thread render_loop;
render_loop = std::thread(run);
render_loop.join();
return 0;
}
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