Pangolin: 5 - Show Multiple windows

## Object - Show multiple windows ## Source code ```cpp #include #include <pangolin/pangolin.h> // 填充图像数据 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; } ``` # Result  # Reference - https://github.com/stevenlovegrove/Pangolin