int main(int argc, char **argv) {
int i;
for(i = 1; i < argc; ++i)
if (argv[i][0] != '-') {
id = atoi(argv[i]);
break;
}
carmen_ipc_initialize(argc, argv);
carmen_velodyne_subscribe_pointcloud_message(NULL,
(carmen_handler_t)velodyne_pointcloud_handler, CARMEN_SUBSCRIBE_ALL);
signal(SIGINT, velodyne_sigint_handler);
atexit(velodyne_finalize);
pthread_create(&thread, 0, velodyne_listen, 0);
gl_initialize(argc, argv);
gl_clear_color(1.0, 1.0, 1.0);
gl_clip(0.1, 60.0);
gl_camera(0.0, 0.0, 0.0, 0.0, 89.0, 20.0);
gl_loop();
while (!pointclouds.empty()) {
velodyne_pointcloud_free(&pointclouds.front());
pointclouds.pop_front();
}
return 0;
}
void render_technique_ss::bind(void)
{
gl_bind_frame_buffer(GL_FRAMEBUFFER, m_frame_buffer);
gl_viewport(0, 0, m_frame_width, m_frame_height);
gl_disable(GL_DEPTH_TEST);
material::get_cached_parameters()->m_is_depth_test = false;
gl_depth_mask(GL_FALSE);
material::get_cached_parameters()->m_is_depth_mask = false;
gl_disable(GL_STENCIL_TEST);
material::get_cached_parameters()->m_is_stencil_test = false;
gl_clear_color(m_clear_color.r, m_clear_color.g, m_clear_color.b, m_clear_color.a);
gl_clear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if(m_material->get_shader()->is_loaded() &&
m_material->get_shader()->is_commited())
{
m_material->bind();
m_quad->bind(m_material->get_shader()->get_guid(), m_material->get_shader()->get_attributes());
}
}
void render_target::clear()
{
gl_clear_color(0.f, 0.f, 0.f, 1.f);
gl_clear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
