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#include <iostream>
#include <pangolin/pangolin.h>
struct CustomType
{
CustomType()
: x(0), y(0.0f) {}
CustomType(int x, float y, std::string z)
: x(x), y(y), z(z) {}
int x;
float y;
std::string z;
};
std::ostream& operator<< (std::ostream& os, const CustomType& o){
os << o.x << " " << o.y << " " << o.z;
return os;
}
std::istream& operator>> (std::istream& is, CustomType& o){
is >> o.x;
is >> o.y;
is >> o.z;
return is;
}
void SampleMethod()
{
std::cout << "You typed ctrl-r or pushed reset" << std::endl;
}
int main(/*int argc, char* argv[]*/)
{
// Load configuration data
pangolin::ParseVarsFile("app.cfg");
// Create OpenGL window in single line
pangolin::CreateWindowAndBind("Main",640,480);
// 3D Mouse handler requires depth testing to be enabled
glEnable(GL_DEPTH_TEST);
// Define Camera Render Object (for view / scene browsing)
pangolin::OpenGlRenderState s_cam(
pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000),
pangolin::ModelViewLookAt(-0,0.5,-3, 0,0,0, pangolin::AxisY)
);
const int UI_WIDTH = 180;
// Add named OpenGL viewport to window and provide 3D Handler
pangolin::View& d_cam = pangolin::CreateDisplay()
.SetBounds(0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0, -640.0f/480.0f)
.SetHandler(new pangolin::Handler3D(s_cam));
// Add named Panel and bind to variables beginning 'ui'
// A Panel is just a View with a default layout and input handling
pangolin::CreatePanel("ui")
.SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(UI_WIDTH));
// Safe and efficient binding of named variables.
// Specialisations mean no conversions take place for exact types
// and conversions between scalar types are cheap.
pangolin::Var<bool> a_button("ui.A_Button",false,false);
pangolin::Var<double> a_double("ui.A_Double",3,0,5);
pangolin::Var<int> an_int("ui.An_Int",2,0,5);
pangolin::Var<double> a_double_log("ui.Log_scale var",3,1,1E4, true);
pangolin::Var<bool> a_checkbox("ui.A_Checkbox",false,true);
pangolin::Var<int> an_int_no_input("ui.An_Int_No_Input",2);
pangolin::Var<CustomType> any_type("ui.Some_Type", CustomType(0,1.2f,"Hello") );
pangolin::Var<bool> save_window("ui.Save_Window",false,false);
pangolin::Var<bool> save_cube("ui.Save_Cube",false,false);
pangolin::Var<bool> record_cube("ui.Record_Cube",false,false);
// std::function objects can be used for Var's too. These work great with C++11 closures.
pangolin::Var<std::function<void(void)> > reset("ui.Reset", SampleMethod);
// Demonstration of how we can register a keyboard hook to alter a Var
pangolin::RegisterKeyPressCallback(pangolin::PANGO_CTRL + 'b', pangolin::SetVarFunctor<double>("ui.A_Double", 3.5));
// Demonstration of how we can register a keyboard hook to trigger a method
pangolin::RegisterKeyPressCallback(pangolin::PANGO_CTRL + 'r', SampleMethod);
// Default hooks for exiting (Esc) and fullscreen (tab).
while( !pangolin::ShouldQuit() )
{
// Clear entire screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if( pangolin::Pushed(a_button) )
std::cout << "You Pushed a button!" << std::endl;
// Overloading of Var<T> operators allows us to treat them like
// their wrapped types, eg:
if( a_checkbox )
an_int = (int)a_double;
if( !any_type->z.compare("robot"))
any_type = CustomType(1,2.3f,"Boogie");
an_int_no_input = an_int;
if( pangolin::Pushed(save_window) )
pangolin::SaveWindowOnRender("window");
if( pangolin::Pushed(save_cube) )
d_cam.SaveOnRender("cube");
if( pangolin::Pushed(record_cube) )
pangolin::DisplayBase().RecordOnRender("ffmpeg:[fps=50,bps=8388608,unique_filename]//screencap.avi");
// Activate efficiently by object
d_cam.Activate(s_cam);
// Render some stuff
glColor3f(1.0,1.0,1.0);
pangolin::glDrawColouredCube();
// Swap frames and Process Events
pangolin::FinishFrame();
}
return 0;
}