Pangolin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

find_package(Pangolin REQUIRED)

include_directories(${Pangolin_INCLUDE_DIRS})

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

#include <iostream>

#include <pangolin/pangolin.h>

int main(int argc, char **argv)

{

    //创建一个窗口

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

    //启动深度测试

    glEnable(GL_DEPTH_TEST);

    // Define Projection and initial ModelView matrix

    pangolin::OpenGlRenderState s_cam(

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

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

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

    );

    // Create Interactive View in window

    pangolin::Handler3D handler(s_cam);

    //setBounds 跟opengl的viewport 有关

    //看SimpleDisplay中边界的设置就知道

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

                            .SetHandler(&handler);

    while(!pangolin::ShouldQuit())

    {

        // Clear screen and activate view to render into

        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        d_cam.Activate(s_cam);

        // Render OpenGL Cube

//        pangolin::glDrawColouredCube();\

        //坐标轴的创建

        pangolin::glDrawAxis(3);

        //点的创建

        glPointSize(10.0f);

        glBegin(GL_POINTS);

        glColor3f(1.0,1.0,1.0);

        glVertex3f(0.0f,0.0f,0.0f);

        glVertex3f(1,0,0);

        glVertex3f(0,2,0);

        glEnd();

        //把下面的点都做一次旋转变换

        glPushMatrix();

        //col major

        std::vector<GLfloat > Twc = {1,0,0,0, 0,1,0,0 , 0,0,1,0 ,0,0,5,1};

        glMultMatrixf(Twc.data());

        //直线的创建

        const float w = 2;

        const float h = w*0.75;

        const float z = w*0.6;

        glLineWidth(2);

        glColor3f(1.0,0,0);

        glBegin(GL_LINES);

        glVertex3f(0,0,0);

        glVertex3f(w,h,z);

        glVertex3f(0,0,0);

        glVertex3f(w,-h,z);

        glVertex3f(0,0,0);

        glVertex3f(-w,-h,z);

        glVertex3f(0,0,0);

        glVertex3f(-w,h,z);

        glVertex3f(w,h,z);

        glVertex3f(-w,h,z);

        glVertex3f(-w,h,z);

        glVertex3f(-w,-h,z);

        glVertex3f(-w,-h,z);

        glVertex3f(w,-h,z);

        glVertex3f(w,-h,z);

        glVertex3f(w,h,z);

        glEnd();

        glPopMatrix();

        // Swap frames and Process Events

        pangolin::FinishFrame();

    }

    return 0;

}

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