pangolin-task3

最新推荐文章于 2022-02-13 01:06:44 发布

m0_48174347

最新推荐文章于 2022-02-13 01:06:44 发布

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分类专栏： Pangolin 文章标签：计算机视觉机器学习 slam

本文链接：https://blog.csdn.net/m0_48174347/article/details/121661596

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本文详细解析了Pangolin库提供的SimpleMultiDisplay例子，涉及生成随机图像、颜色混合以及多窗口设置。文章还讨论了如何在计算机视觉中设置和使用多个观察相机，创建3D视窗和图像窗口，并阐述了相机激活与场景重建的注意事项。

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Task3

pangolin 提供的例子 SimpleMultiDisplay

#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); 

	// Issue specific OpenGl we might need
	glEnable (GL_BLEND);
	glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

	// Define Camera Render Object (for view / scene browsing)
	pangolin::OpenGlMatrix proj = pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000);

	pangolin::OpenGlRenderState s_cam(proj, pangolin::ModelViewLookAt(1,0.5,-2,0,0,0, pangolin::AxisY) );

	pangolin::OpenGlRenderState s_cam2(proj, pangolin::ModelViewLookAt(0,0,-2,0,0,0, pangolin::AxisY) );

	// Add named OpenGL viewport to window and provide 3D Handler
	pangolin::View& d_cam1 = pangolin::Display("cam1")
		.SetAspect(640.0f/480.0f)
		.SetHandler(new pangolin::Handler3D(s_cam));

	pangolin::View& d_cam2 = pangolin::Display("cam2")
		.SetAspect(640.0f/480.0f)
		.SetHandler(new pangolin::Handler3D(s_cam2));

	pangolin::View& d_cam3 = pangolin::Display("cam3")
		.SetAspect(640.0f/480.0f)
		.SetHandler(new pangolin::Handler3D(s_cam));

	pangolin::View& d_cam4 = pangolin::Display("cam4")
		.SetAspect(640.0f/480.0f)
		.SetHandler(new pangolin::Handler3D(s_cam2));

	pangolin::View& d_img1 = pangolin::Display("img1")
		.SetAspect(640.0f/480.0f);

	pangolin::View& d_img2 = pangolin::Display("img2")
		.SetAspect(640.0f/480.0f);

	// LayoutEqual is an EXPERIMENTAL feature - it requires that all sub-displays
	// share the same aspect ratio, placing them in a raster fasion in the
	// viewport so as to maximise display size.
	pangolin::Display("multi")
		.SetBounds(0.0, 1.0, 0.0, 1.0)
		.SetLayout(pangolin::LayoutEqual)
		.AddDisplay(d_cam1)
		.AddDisplay(d_img1)
		.AddDisplay(d_cam2)
		.AddDisplay(d_img2)
		.AddDisplay(d_cam3)
		.AddDisplay(d_cam4);

	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);

		// Generate random image and place in texture memory for display
		setImageData(imageArray,3*width*height);
		imageTexture.Upload(imageArray,GL_RGB,GL_UNSIGNED_BYTE);

		glColor3f(1.0,1.0,1.0);

		d_cam1.Activate(s_cam);
		pangolin::glDrawColouredCube();

		d_cam2.Activate(s_cam2);
		pangolin::glDrawColouredCube();

		d_cam3.Activate(s_cam);
		pangolin::glDrawColouredCube();

		d_cam4.Activate(s_cam2);
		pangolin::glDrawColouredCube();

		d_img1.Activate();
		glColor4f(1.0f,1.0f,1.0f,1.0f);
		imageTexture.RenderToViewport();

		d_img2.Activate();
		glColor4f(1.0f,1.0f,1.0f,1.0f);
		imageTexture.RenderToViewport();

		// Swap frames and Process Events
		pangolin::FinishFrame();
	}

	delete[] imageArray;
	return 0;
}

代码解析

void setImageData(unsigned char * imageArray, int size){
	for(int i = 0 ; i < size;i++) {
		imageArray[i] = (unsigned char)(rand()/(RAND_MAX/255.0));
	}
}

//...

unsigned char* imageArray = new unsigned char[3*width*height];

//...

setImageData(imageArray,3*width*height);

//...

delete[] imageArray;

setImageData生成一个随机图像。new了一个字符数组，不使用后，必须记得清空内存。

glEnable (GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

将传入的 RGBA 颜色值与颜色缓冲区中的值混合。混合常用来绘制透明或半透明的物体。见 https://blog.csdn.net/hudfang/article/details/46726465

glBlendFunc 回答如何混合的问题。

pangolin::OpenGlRenderState s_cam(proj, pangolin::ModelViewLookAt(1,0.5,-2,0,0,0, pangolin::AxisY) );

pangolin::OpenGlRenderState s_cam2(proj, pangolin::ModelViewLookAt(0,0,-2,0,0,0, pangolin::AxisY) );

定义了两个观察相机。

pangolin::View& d_cam1 = pangolin::Display("cam1")
	.SetAspect(640.0f/480.0f)
	.SetHandler(new pangolin::Handler3D(s_cam));

pangolin::View& d_cam2 = pangolin::Display("cam2")
	.SetAspect(640.0f/480.0f)
	.SetHandler(new pangolin::Handler3D(s_cam2));

pangolin::View& d_cam3 = pangolin::Display("cam3")
	.SetAspect(640.0f/480.0f)
	.SetHandler(new pangolin::Handler3D(s_cam));

pangolin::View& d_cam4 = pangolin::Display("cam4")
	.SetAspect(640.0f/480.0f)
	.SetHandler(new pangolin::Handler3D(s_cam2));

pangolin::View& d_img1 = pangolin::Display("img1")
	.SetAspect(640.0f/480.0f);

pangolin::View& d_img2 = pangolin::Display("img2")
	.SetAspect(640.0f/480.0f);
	
//...

d_cam1.Activate(s_cam);
d_cam2.Activate(s_cam2);
d_cam3.Activate(s_cam);
d_cam4.Activate(s_cam2);
d_img1.Activate();
d_img2.Activate();

创建多个视窗。d_cam1-4 是3D视窗，定义了独立的相机句柄。使用相机为窗口提供图像。图像窗口d_img1-2。

pangolin::Display("multi")
	.SetBounds(0.0, 1.0, 0.0, 1.0)
	.SetLayout(pangolin::LayoutEqual)
	.AddDisplay(d_cam1)
	.AddDisplay(d_img1)
	.AddDisplay(d_cam2)
	.AddDisplay(d_img2)
	.AddDisplay(d_cam3)
	.AddDisplay(d_cam4);

多窗口的参数设置顺序

在窗体中的位置大小(SetBounds)
如何布局(SetLayout)
有哪些窗口要添加进来(AddDisplay)

pangolin::GlTexture imageTexture(width,height,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);

//...

imageTexture.Upload(imageArray,GL_RGB,GL_UNSIGNED_BYTE);

opengl的图像类，加载方式。

glColor3f(1.0,1.0,1.0);

设置主窗体的背景。

d_cam1.Activate(s_cam);
pangolin::glDrawColouredCube();

d_cam2.Activate(s_cam2);
pangolin::glDrawColouredCube();

d_cam3.Activate(s_cam);
pangolin::glDrawColouredCube();

d_cam4.Activate(s_cam2);
pangolin::glDrawColouredCube();

d_img1.Activate();
glColor4f(1.0f,1.0f,1.0f,1.0f);
imageTexture.RenderToViewport();

d_img2.Activate();
glColor4f(1.0f,1.0f,1.0f,1.0f);
imageTexture.RenderToViewport();

图像窗口的背景设置，没什么意义，除非图像有透明效果。通过RenderToViewport渲染到当前窗口上去。

相机不能同时激活，当前相机激活时，前一个相机关闭，场景也没了。所以每次激活相机，都要重新布置一下场景。