Pangolin: 4 - Show Image 显示图像

Object

• Show images

Steps

Prepare image data

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

Image texture

const int width =  64;
const int height = 48;

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

Show image

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

Image panel

pangolin::View& d_image = pangolin::Display("image")
      //.SetBounds(2/3.0f,1.0f,0,1/3.0f,640.0/480)
       .SetBounds(0.0f, 0.3f, 0.0f, pangolin::Attach::Pix(UI_WIDTH), float(w) / float(h))
      .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;

Result