pangolin简单学习

0.1. 资料

泡泡机器人

github example

opengl中摄像机的位置，观察的方向

gluLookAt函数

0.2. 使用说明

使用这个gluLookAt矩阵坐标观察矩阵可以很高效地把所有世界坐标变换为观察坐标LookAt矩阵

1. find_package(Pangolin REQUIRED)

2. include_directories(${Pangolin_INCLUDE_DIRS})

3.  

4. target_link_libraries(pangolin_test ${Pangolin_LIBRARIES})

Github 下有个example有一些例子，简单的参照着写，复杂的估计需要查opengl.

0.3. HelloPangolin

1. #include

2. #include

3.  

4. int main(int argc, char **argv)

5. {

6. //创建一个窗口

7. pangolin::CreateWindowAndBind("Main",640,480);

8. //启动深度测试

9. glEnable(GL_DEPTH_TEST);

10.  

11. // Define Projection and initial ModelView matrix

12. pangolin::OpenGlRenderState s_cam(

13. pangolin::ProjectionMatrix(640,480,420,420,320,240,0.2,100),

14. //对应的是gluLookAt,摄像机位置,参考点位置,up vector(上向量)

15. pangolin::ModelViewLookAt(0,-10,0.1,0,0,0,pangolin::AxisNegY)

16. );

17.  

18. // Create Interactive View in window

19. pangolin::Handler3D handler(s_cam);

20. //setBounds 跟opengl的viewport 有关

21. //看SimpleDisplay中边界的设置就知道

22. pangolin::View &d_cam = pangolin::CreateDisplay().SetBounds(0.0,1.0,0.0,1.0,-640.0f/480.0f)

23. .SetHandler(&handler);

24.  

25. while(!pangolin::ShouldQuit())

26. {

27. // Clear screen and activate view to render into

28. glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

29. d_cam.Activate(s_cam);

30.  

31. // Render OpenGL Cube

32. // pangolin::glDrawColouredCube();\

33. //坐标轴的创建

34. pangolin::glDrawAxis(3);

35.  

36. //点的创建

37. glPointSize(10.0f);

38. glBegin(GL_POINTS);

39. glColor3f(1.0,1.0,1.0);

40. glVertex3f(0.0f,0.0f,0.0f);

41. glVertex3f(1,0,0);

42. glVertex3f(0,2,0);

43. glEnd();

44.  

45. //把下面的点都做一次旋转变换

46. glPushMatrix();

47. //col major

48. std::vector Twc = {1,0,0,0, 0,1,0,0 , 0,0,1,0 ,0,0,5,1};

49. glMultMatrixf(Twc.data());

50.  

51. //直线的创建

52. const float w = 2;

53. const float h = w*0.75;

54. const float z = w*0.6;

55. glLineWidth(2);

56. glColor3f(1.0,0,0);

57. glBegin(GL_LINES);

58.  

59. glVertex3f(0,0,0);

60. glVertex3f(w,h,z);

61. glVertex3f(0,0,0);

62. glVertex3f(w,-h,z);

63. glVertex3f(0,0,0);

64. glVertex3f(-w,-h,z);

65. glVertex3f(0,0,0);

66. glVertex3f(-w,h,z);

67. glVertex3f(w,h,z);

68. glVertex3f(-w,h,z);

69. glVertex3f(-w,h,z);

70. glVertex3f(-w,-h,z);

71. glVertex3f(-w,-h,z);

72. glVertex3f(w,-h,z);

73. glVertex3f(w,-h,z);

74. glVertex3f(w,h,z);

75. glEnd();

76.  

77. glPopMatrix();

78.  

79. // Swap frames and Process Events

80. pangolin::FinishFrame();

81. }

82.  

83. return 0;

84.  

85. }

0.4. Plot data with ros

参照SimplePlot, !pangolin::ShouldQuit()换成ros::ok(),就可以

参照SimpleDisplay，　可以做出选项配置