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;
}
bool view_initialize_display(char *err_str)
{
// is screen size legal?
if (view_search_screen_size_list(setup.screen_wid,setup.screen_high)==-1) {
setup.screen_wid=640;
setup.screen_high=480;
}
// start openGL
if (!gl_initialize(setup.screen_wid,setup.screen_high,setup.lock_fps_refresh,setup.fsaa_mode,FALSE,err_str)) {
view_memory_release();
SDL_Quit();
return(FALSE);
}
// fix some OpenGL settings if not supported by card
if (!gl_check_fsaa_ok()) setup.fsaa_mode=fsaa_mode_none;
if (!gl_check_texture_compress_ok()) setup.texture_compression=FALSE;
if (!gl_check_texture_anisotropic_filter_ok()) setup.anisotropic_mode=anisotropic_mode_none;
// start the shaders
read_settings_shader();
if (!gl_shader_initialize(err_str)) {
gl_shutdown();
SDL_Quit();
return(FALSE);
}
// initialize text
gl_text_initialize();
// back renderer
if (!gl_back_render_initialize(err_str)) {
gl_text_shutdown();
gl_shutdown();
view_memory_release();
SDL_Quit();
return(FALSE);
}
// shadows
if (!shadow_initialize(err_str)) {
gl_back_render_shutdown();
gl_text_shutdown();
gl_shutdown();
view_memory_release();
SDL_Quit();
return(FALSE);
}
// vertex objects
view_create_vertex_objects();
return(TRUE);
}