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#include <limits>
#include <iostream>
#include <pangolin/display/display.h>
#include <pangolin/display/view.h>
#include <pangolin/handler/handler.h>
#include <pangolin/gl/gldraw.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;
}
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