pangolin-task3

最新推荐文章于 2023-03-02 20:47:51 发布

m0_48174347

最新推荐文章于 2023-03-02 20:47:51 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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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 p