所有你想要的都在这儿了：
opengl 显示深度图，彩色图；播放视频；显示点云视频；还有等等技术
且让我一一道来：
准备工作：~如果你只想要一个opengl显示视频的demo,ok，在后面呢，不急哈；
1，环境搭建：opengl 我用的是glew + freeglut; 深度相机我用的是PicoZense DCAM710;
2， 好了可以愉快的建立工程了，神秘微笑，包含目录，链接库啥的，嘿嘿~
3， 嗯，我们需要一个shader.h来辅助加载和编译opengl shaders，~这个不是我的原创，类似头文件很普遍；
#ifndef _SHADER_H_ #define _SHADER_H_ #include <GL\glew.h> #include <iterator> // std::istreambuf_iterator #include <string> #include <vector> #include <iostream> #include <fstream> struct ShaderFile { GLenum shaderType; const char* filePath; ShaderFile(GLenum type, const char* path) :shaderType(type), filePath(path){} }; class Shader { public: Shader(const char* vertexPath, const char* fragPath) :programId(0) { std::vector<ShaderFile> fileVec; fileVec.push_back(ShaderFile(GL_VERTEX_SHADER, vertexPath)); fileVec.push_back(ShaderFile(GL_FRAGMENT_SHADER, fragPath)); loadFromFile(fileVec); } Shader(const char* vertexPath, const char* fragPath, const char* geometryPath) :programId(0) { std::vector<ShaderFile> fileVec; fileVec.push_back(ShaderFile(GL_VERTEX_SHADER, vertexPath)); fileVec.push_back(ShaderFile(GL_FRAGMENT_SHADER, fragPath)); fileVec.push_back(ShaderFile(GL_GEOMETRY_SHADER, geometryPath)); loadFromFile(fileVec); } void use() const { glUseProgram(this->programId); } ~Shader() { if (this->programId) { glDeleteProgram(this->programId); } } public: GLuint programId; private: /* *从文件加载顶点和片元着色器 *传递参数为[(着色器文件类型，着色器文件路径）] */ void loadFromFile(std::vector<ShaderFile>& shaderFileVec) { std::vector<GLuint> shaderObjectIdVec; std::string vertexSource, fragSource; std::vector<std::string> sourceVec; size_t shaderCount = shaderFileVec.size(); //读取文件源代码 for (size_t i = 0; i < shaderCount; ++i) { std::string shaderSource; if (!loadShaderSource(shaderFileVec[i].filePath, shaderSource)) { std::cout << "Error::Shader could not load file:" << shaderFileVec[i].filePath << std::endl; return; } sourceVec.push_back(shaderSource); } bool bSuccess = true; //编译 Shader object for (size_t i = 0; i < shaderCount; ++i) { GLuint shaderId = glCreateShader(shaderFileVec[i].shaderType); const char *c_str = sourceVec[i].c_str(); glShaderSource(shaderId, 1, &c_str, NULL); glCompileShader(shaderId); GLint compileStatus = 0; glGetShaderiv(shaderId, GL_COMPILE_STATUS, &compileStatus);//检查编译状态 if (compileStatus == GL_FALSE)//获取错误报告 { GLint maxLength = 0; glGetShaderiv(shaderId, GL_INFO_LOG_LENGTH, &maxLength); std::vector<GLchar> errLog(maxLength); glGetShaderInfoLog(shaderId, maxLength, &maxLength, &errLog[0]); std::cout << "Error::Shader file [" << shaderFileVec[i].filePath << " ] compiled failed," << &errLog[0] << std::endl; bSuccess = false; } shaderObjectIdVec.push_back(shaderId); } //链接shader program if (bSuccess) { this->programId = glCreateProgram(); for (size_t i = 0; i < shaderCount; ++i) { glAttachShader(this->programId, shaderObjectIdVec[i]); } glLinkProgram(this->programId); GLint linkStatus; glGetProgramiv(this->programId, GL_LINK_STATUS, &linkStatus); if (linkStatus == GL_FALSE) { GLint maxLength = 0; glGetProgramiv(this->programId, GL_INFO_LOG_LENGTH, &maxLength); std::vector<GLchar> errLog(maxLength); glGetProgramInfoLog(this->programId, maxLength, &maxLength, &errLog[0]); std::cout << "Error::Shader link failed," << &errLog[0] << std::endl; } } //连接完成后detach 并释放 shader object for (size_t i = 0; i < shaderCount; ++i) { if (this->programId != 0) { glDetachShader(this->programId, shaderObjectIdVec[i]); } glDeleteShader(shaderObjectIdVec[i]); } } /* *读取着色器程序源码 */ bool loadShaderSource(const char* filePath, std::string& source) { source.clear(); std::ifstream in_stream(filePath); if (!in_stream) { return false; } source.assign(std::istreambuf_iterator<char>(in_stream), std::istreambuf_iterator<char>()); //文件流迭代器构造字符串 return true; } }; #endif4， 我还准备了深度相机的SDK和辅助头文件，来实时获取RGBD数据流；SDK自己去官网下载PicoZense_DCAM710_SDK
#ifndef _PSFRAMEHELPPER_ #define _PSFRAMEHELPPER_ #include <iostream> #include "PicoZense_api.h" //yes, 这就是深度相机的SDK头文件 class PsFrameHelpper { public: void PsFrameInit() { using namespace std; status = PsInitialize(); if (status != PsReturnStatus::PsRetOK) { cout << "Initialize failed!" << endl; system("pause"); exit(0); } status = PsOpenDevice(deviceIndex); if (status != PsReturnStatus::PsRetOK) { cout << "OpenDevice 0 failed!" << endl; system("pause"); exit(0); } PsSetMapperEnabledDepthToRGB(deviceIndex, true); status = PsStartFrame(deviceIndex, PsDepthFrame); status = PsStartFrame(deviceIndex, PsMappedRGBFrame); } void PsFrameClose() { status = PsStopFrame(deviceIndex, PsDepthFrame); status = PsCloseDevice(deviceIndex); status = PsShutdown(); } public: PsReturnStatus status; int32_t deviceIndex = 0; }; #endif5，你以为已经准备妥当了？其实我也想~ 我们还要两个小shader来指示如何显示图片~
面片着色器：triangle.frag
#version 330 core in vec2 tex_coord; layout (location = 0) out vec4 color; uniform sampler2D tex; void main(void) { color = texture(tex,tex_coord); color = color.bgra; }顶点着色器：triangle.vert
#version 330 core layout (location = 0) in vec2 in_position; layout (location = 1) in vec2 in_tex_coord; out vec2 tex_coord; void main(void) { gl_Position = vec4(in_position, 0.0, 1.0); tex_coord = in_tex_coord; }6，前菜上完了，到正餐了，对，精髓~
#include <iostream> #include <fstream> #include "PsFrameHelpper.h" #include <GL\glew.h> #include <GL\freeglut.h> #include "shader.h" #include <windows.system.h> #define GLUT_WHEEL_UP 3 //定义滚轮操作 #define GLUT_WHEEL_DOWN 4 struct Vertex { GLfloat x; GLfloat y; GLfloat z; } ; SYSTEMTIME sys; // settings//------------------------------------------------------------------------- const int SCR_WIDTH = 1493, SCR_HEIGHT =960; static void UShort2Gray(PsDepthPixel *DepthImg, PsGray8Pixel *GrayImg, int width, int height, PsDepthRange DepthRange, bool isDepth2Gray); static void Gray2Color(PsGray8Pixel *GrayImg, int width, int height, PsBGR888Pixel *ColorImg); void DrowPointCloud(); void PointCloudWriter(bool isDepth); void KeyBoards(unsigned char key, int x, int y); void onMouseMove(int x, int y); void myMouse(int button, int state, int x, int y); void PrintUsage(){ std::cout << "Enter Numbers: 1 Near; 2 Mid; 3 Far; 5 ColorMap; 6 Show PointCloud; 8 PointCloudWrite" << std::endl; } GLuint program; GLuint vao; GLuint quad_vbo; GLuint tex; float thetaX = 0.0, thetaY = 0.0, scaleFactor = 1.0; static float dx = 0, dy = 0, oldy = -1, oldx = -1; Vertex ptsCen = {0.0f, 0.0f, -2.5f}; PsFrameHelpper FrameHelpper; PsReturnStatus status; int32_t deviceIndex = 0; PsFrameMode rgbFrameMode; PsFrameMode depthFrameMode; PsDepthRange DepthRange; PsFrame rgbFrame = { 0 }; PsFrame depthFrame = { 0 }; PsFrame depthrgbFrame = { 0 }; PsCameraParameters cameraParam = { 0.0 }; bool colormap = true; bool showPointCloud = true; bool fullscreen = false; long delayT; //initial//------------------------------------------------------------------------- void init(void) { //initialized PsSDK FrameHelpper.PsFrameInit(); //get depthRange to set the Slope PsGetDepthRange(deviceIndex, &DepthRange); //get cameraParam to caculate the vertices position PsGetCameraParameters(deviceIndex, PsDepthSensor, &cameraParam); //get FrameMode to understand the framedata PsGetFrameMode(deviceIndex, PsRGBFrame, &rgbFrameMode); PsGetFrameMode(deviceIndex, PsDepthFrame, &depthFrameMode); //initial openGL glClearColor(0.0, 0.0, 0.0, 0.0); glEnable(GL_DEBUG_OUTPUT); static const GLfloat quad_data[] ={ -1.0f, -1.0f, 1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, }; glGenVertexArrays(1, &vao); glBindVertexArray(vao); glGenBuffers(1, &quad_vbo); glBindBuffer(GL_ARRAY_BUFFER, quad_vbo); glBufferData(GL_ARRAY_BUFFER, sizeof(quad_data), quad_data, GL_STATIC_DRAW); glVertexAttribPointer(0, 2, GL_FLOAT, GL_FALSE, 0, (GLvoid*)0); glEnableVertexAttribArray(0); glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 0, (const GLvoid*)(8 * sizeof(float))); glEnableVertexAttribArray(1); glBindVertexArray(0); //shader static Shader shader("triangle.vert", "triangle.frag"); program = shader.programId; // texture glGenTextures(1, &tex); glBindTexture(GL_TEXTURE_2D, tex); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); glBindTexture(GL_TEXTURE_2D, 0); } //Display//------------------------------------------------------------------------- void display(void) { //Get Frame GetLocalTime(&sys); long dwStart = sys.wMilliseconds; PsReadNextFrame(deviceIndex); PsGetFrame(deviceIndex, PsRGBFrame, &rgbFrame); PsGetFrame(deviceIndex, PsDepthFrame, &depthFrame); PsGetFrame(deviceIndex, PsMappedRGBFrame, &depthrgbFrame); //opengl display glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); glUseProgram(program); glBindVertexArray(vao); glBindTexture(GL_TEXTURE_2D, tex); glUniform1i(glGetUniformLocation(program, "tex"), 0); //show RGB image if (rgbFrame.pFrameData != NULL && !fullscreen){ glViewport(640, 480, 853, 480); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, rgbFrameMode.resolutionWidth, rgbFrameMode.resolutionHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, rgbFrame.pFrameData); glDrawArrays(GL_TRIANGLE_STRIP, 0, 4); } //show Depth image if (depthFrame.pFrameData != NULL&& !fullscreen){ glViewport(0,480, 640, 480); //Depth Frame processing PsDepthPixel *DepthFrameData = (PsDepthPixel *)depthFrame.pFrameData; PsGray8Pixel *depthTex = new PsGray8Pixel[640 * 480]; UShort2Gray(DepthFrameData, depthTex, 640, 480, DepthRange, true); if (!colormap){ //Depth_Gray image glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, 640, 480, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, depthTex); } else{ //Depth_color image PsBGR888Pixel *ColorImg = new PsBGR888Pixel[640 * 480]; Gray2Color(depthTex, 640, 480, ColorImg); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, ColorImg); delete ColorImg; } delete depthTex; glDrawArrays(GL_TRIANGLE_STRIP, 0, 4); } if (depthrgbFrame.pFrameData != NULL&& !fullscreen){ glViewport(0,0, 640, 480); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB,640, 480,0, GL_RGB, GL_UNSIGNED_BYTE, depthrgbFrame.pFrameData); glDrawArrays(GL_TRIANGLE_STRIP, 0, 4); } glBindVertexArray(0); glUseProgram(0); if (showPointCloud){ if (fullscreen) glViewport(0, 0, 1493, 960); else glViewport(640, 0, 853, 480); glEnable(GL_DEPTH_TEST); if (thetaY<0){ thetaY = thetaY + 360; } if (thetaY>360){ thetaY = thetaY - 360; } if (thetaX<0){ thetaX = thetaX + 360; } if (thetaX>360){ thetaX = thetaX - 360; } glMatrixMode(GL_PROJECTION); glLoadIdentity(); gluPerspective(45.0, (GLfloat)853 / (GLfloat)480, 0.1, 1000.0); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); gluLookAt(0.0, 0.0, 3.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0); glRotatef(thetaX, 1, 0, 0); glRotatef(thetaY, 0, 1, 0); glScalef(scaleFactor, scaleFactor, scaleFactor); glTranslatef(-ptsCen.x, -ptsCen.y, -ptsCen.z); DrowPointCloud(); } glutSwapBuffers(); GetLocalTime(&sys); long dwEnd = sys.wMilliseconds; long TimeSpend = dwEnd - dwStart; long timedelay = dwEnd - delayT; delayT = dwEnd; if (TimeSpend < 0){ TimeSpend += 1000; } if (timedelay < 0){ timedelay += 1000; } //printf("frame TimeSpend: %d, fps: %d Hz\n", TimeSpend, 1000 / timedelay); } //ShutDown//---------------------------------------------------------------------------- void OnShutdown() { //destroy vbo & vao glDeleteTextures(1, &tex); glDeleteBuffers(1, &quad_vbo); glDeleteVertexArrays(1, &vao); FrameHelpper.PsFrameClose(); printf("Shutdown successfull"); } //Timer//---------------------------------------------------------------------------- void TimerFunc(int value) { glutPostRedisplay(); glutTimerFunc(33, TimerFunc, 1); } //Main//---------------------------------------------------------------------------- int main(int argc, char *argv[]) { glutInit(&argc, argv); glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA); glutInitWindowPosition(200, 10); glutInitWindowSize(SCR_WIDTH, SCR_HEIGHT); glutCreateWindow("GL_MultiFrame_Viewer"); PrintUsage(); if (glewInit() != GLEW_OK){ printf("Failed to initialize GLEW ... exiting"); exit(EXIT_FAILURE); } init(); glutKeyboardFunc(&KeyBoards); glutMouseFunc(myMouse); glutMotionFunc(onMouseMove); glutDisplayFunc(&display); glutTimerFunc(33, TimerFunc, 1); glutCloseFunc(OnShutdown); glutMainLoop(); return 0; } //Drow PointCloud//---------------------------------------------------------------------------- void DrowPointCloud(){ PsVector3f mWorldVector = { 0.0f }; PsDepthPixel* pdepth = (PsDepthPixel*)depthFrame.pFrameData; PsBGR888Pixel * pcolordepth = (PsBGR888Pixel *)depthrgbFrame.pFrameData; glPointSize(1.0f); float fR = 1.0f, fG =1.0f, fB = 1.0f; glBegin(GL_POINTS); for (int h = 0; h < 480; h++){ for (int w = 0; w < 640; w++, pcolordepth++){ if (pdepth[h * 640 + w] == 0) continue; //discard zero-depth points else{ //caculate Vertices Position by depthFrame and cameraParam mWorldVector.x = (w - cameraParam.cx) / cameraParam.fx * pdepth[h * 640 + w]; mWorldVector.y = (h - cameraParam.cy) / cameraParam.fy * pdepth[h * 640 + w]; mWorldVector.z = pdepth[h * 640 + w]; fR = (float)pcolordepth->r / 255; fG = (float)pcolordepth->g / 255; fB = (float)pcolordepth->b / 255; //drow point glColor3f(fR, fG, fB); glVertex3f(mWorldVector.x / 100, -1*mWorldVector.y / 100, -1 * mWorldVector.z / 100); } } } glEnd(); } //KeyBoards//---------------------------------------------------------------------------- void KeyBoards(unsigned char key, int x, int y) { switch (key){ case '1': PsSetDepthRange(deviceIndex, PsNearRange); PsGetDepthRange(deviceIndex, &DepthRange); std::cout << "Set DepthRange: Near" << std::endl; PrintUsage(); break; case '2': PsSetDepthRange(deviceIndex, PsMidRange); PsGetDepthRange(deviceIndex, &DepthRange); std::cout << "Set DepthRange: Mid" << std::endl; PrintUsage(); break; case '3': PsSetDepthRange(deviceIndex, PsFarRange); PsGetDepthRange(deviceIndex, &DepthRange); std::cout << "Set DepthRange: Far" << std::endl; PrintUsage(); break; case '5': colormap = !colormap; break; case'6': showPointCloud = !showPointCloud; std::cout << "show pointcloud : " << showPointCloud<<std::endl; break; case '7': PointCloudWriter(true); PrintUsage(); break; case '8': PointCloudWriter(false); PrintUsage(); break; case '9': fullscreen = !fullscreen; break; case 27: exit(0); break; } } void myMouse(int button, int state, int x, int y) { if (state == GLUT_DOWN && button == GLUT_LEFT_BUTTON) oldx = x, oldy = y; if (state == GLUT_DOWN && button == GLUT_RIGHT_BUTTON){ thetaX = 0; thetaY = 0; scaleFactor = 1; glutPostRedisplay(); } if (state == GLUT_UP && button == GLUT_WHEEL_UP){ scaleFactor +=0.1f; glutPostRedisplay(); } if (state == GLUT_UP && button == GLUT_WHEEL_DOWN){ scaleFactor -= 0.1f; glutPostRedisplay(); } } void onMouseMove(int x, int y) { dx += x - oldx; dy += y - oldy; thetaX = dy / 853 * 90; thetaY = dx / 853 * 90; oldx = x, oldy = y; glutPostRedisplay(); } //Auxiliary Function //PointCloud Writer//---------------------------------------------------------------------------- void PointCloudWriter(bool isDepth){ std::ofstream pointCloudWriter; PsVector3f WorldVector = { 0.0f }; PsCameraParameters cameraParam = { 0.0 }; PsFrame rgbdepthFrame = { 0 }; PsDepthPixel* pdepth =0; int h, w; if (!isDepth){ PsGetFrame(deviceIndex, PsMappedRGBFrame, &rgbdepthFrame); pdepth = (PsDepthPixel*)rgbdepthFrame.pFrameData; PsGetCameraParameters(deviceIndex, PsRgbSensor, &cameraParam); pointCloudWriter.open("RgbDepthPointCloud.txt");\ h = rgbFrameMode.resolutionHeight; w = rgbFrameMode.resolutionWidth; } else{ pdepth = (PsDepthPixel*)depthFrame.pFrameData; PsGetCameraParameters(deviceIndex, PsDepthSensor, &cameraParam); pointCloudWriter.open("PointCloud.txt"); h = depthFrameMode.resolutionHeight; w = depthFrameMode.resolutionWidth; } pointCloudWriter.setf(std::ios_base::fixed); pointCloudWriter.precision(3); for (int i = 0; i < h; i++) { for (int j = 0; j < w; j++) { if (pdepth[i * w + j] == 0) continue; //remove zero points else{ WorldVector.x = (j - cameraParam.cx) / cameraParam.fx * pdepth[i * w + j]; WorldVector.y = (i - cameraParam.cy) / cameraParam.fy * pdepth[i * w + j]; WorldVector.z = pdepth[i * w + j]; pointCloudWriter.width(8); pointCloudWriter << WorldVector.x << "\t"; pointCloudWriter.width(8); pointCloudWriter << WorldVector.y << "\t"; pointCloudWriter.width(8); pointCloudWriter << WorldVector.z << std::endl; } } } std::cout << "Write file" << std::endl; pointCloudWriter.close(); } //color map in rainbow//---------------------------------------------------------------------------- static void Gray2Color(PsGray8Pixel *GrayImg, int width, int height, PsBGR888Pixel *ColorImg) { PsBGR888Pixel* tempRGB = ColorImg; unsigned char grayValue; for (int i = 0; i < width * height; i++, tempRGB++) { grayValue = GrayImg[i]; //Black BG if (grayValue == 0){ tempRGB->r = 0; tempRGB->g = 0; tempRGB->b = 0; } else if (grayValue <= 51){ tempRGB->r = 255; tempRGB->g = grayValue * 5; tempRGB->b = 0; } else if (grayValue <= 102){ grayValue -= 51; tempRGB->r = 255 - grayValue * 5; tempRGB->g = 255; tempRGB->b = 0; } else if (grayValue <= 153){ grayValue -= 102; tempRGB->r = 0; tempRGB->g = 255; tempRGB->b = grayValue * 5; } else if (grayValue <= 204){ grayValue -= 153; tempRGB->r = 0; tempRGB->g = 255 - static_cast<unsigned char>(grayValue *128.0 / 51 + 0.5); tempRGB->b = 255; } else if (grayValue <= 255){ grayValue -= 204; tempRGB->r = 255; tempRGB->g = 127 - static_cast<unsigned char>(grayValue *127.0 / 51 + 0.5); tempRGB->b = 0; } } } //Unsigned short to unsigned char//---------------------------------------------------------------------------- static void UShort2Gray(PsDepthPixel *DepthImg, PsGray8Pixel *GrayImg, int width, int height, PsDepthRange DepthRange, bool isDepth2Gray) { uint32_t slope; //Depth16 to Depth8 if (isDepth2Gray){ //slope depends on DepthRange if (DepthRange == PsNearRange) slope = 1450; else if (DepthRange == PsMidRange) slope = 3000; else slope = 4400; } //Gray16 to Gray8 else slope = 3840; for (int i = 0; i< width * height; i++) { int grayValue; if (int(DepthImg[i])<slope) grayValue = int(DepthImg[i])* 255 / slope; else grayValue = 255; GrayImg[i] = grayValue; } }7，如果不多说两句，这代码仍然没有灵魂~ 对我要开大了
第一，为啥要定义一个矩形顶点数组：static const GLfloat quad_data[]
不瞒你说，opengl需要一个“画布”也就是一个矩形面片来播放图像，我们不停的给这个面片贴上（通过纹理贴图）相机更新上来的图像，这样就是视频啦~
第二，为什么需要计时器TimerFunc(int value)，没有他，你就不知道什么时候更新这个循环，他让我们的循环更加方便；
第三， 为什么把uint_16的深度图转换到uint_8的类型（UShort2Gray）？因为我们不能显示16位的图像，所以将他先映射到255空间，然后给他定义一个伪彩色转换（Gray2Color），这样我们就可以看到漂亮的深度图啦~
第四，点云转换，和彩色点云的绘制，这个有点技术含量，但没有门槛的，一下就会，老生常谈了，那个转换的核心代码到处都是，每得到一个（x,y,z)记得从map好的彩色图里对应取出他的对应像素点，把这个点当成颜色画给那个需要他的坐标点，嗯，picozense 的SDK已经帮你准备好了对准的彩色图，只要你先设定一下，具体看那个helpper;
第五， 我们会显示三路图像视频，和一路点云视频。图像有深度图，彩色图，对齐图，同时点云还要可以被鼠标控制旋转和缩放，这需要一点技巧，我们把他们化成四个小窗口，分别绘制他们，三张图像的播放思路是一样的，点云另起一条思路。这里我们用到一个有用的gl函数：如glViewport(0,480, 640, 480);他指定了这个函数放在哪个位置，嗯，很关键~
第六， 其实是上面没说完的，点云的鼠标控制，当然还有键盘响应事件，我们定义鼠标回调幻术，对幻术，哈哈哈~这需要opengl的一些组合控制才能配合好，哎呀，我实在讲不下去啦，这地方最乱~你自己琢磨吧~你自己琢磨吧~~嗯，推卸真香~
最后，来，给你们看一下这加了特效的duang~
嗯，很简洁的布局，真机智~
欢迎转载，不过别忘标注出处哦~
下载地址：Opengl_Display_RGBD.zip
