pangolin库的简单使用

原文: https://www.jianshu.com/p/3baff8a66927

pangolin是OpenGL的轻量级封装

代码解释均在注释之中

#include <pangolin/pangolin.h>

int main( int /*argc*/, char** /*argv*/ )
{

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

    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),//设置相机参数
        pangolin::ModelViewLookAt(-2,2,-2, 0,0,0, pangolin::AxisNegY)//观测视角
    );

    // Create Interactive View in window
    pangolin::Handler3D handler(s_cam);
    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);
        pangolin::glDrawAxis(3);//绘制坐标系
        // Render OpenGL Cube
        pangolin::glDrawColouredCube();//绘制坐标系上的方方

        //对下面的对象进行变换,进行一个次次变换
         glPushMatrix();
    	 std::vector<GLfloat > Twc = {1,0,0,0, 0,1,0,0 , 0,0,1,0 ,5,0,0,1};//变换矩阵
         glMultMatrixf(Twc.data());

        //画点
        glPointSize(10.0f);
        glBegin(GL_POINTS);
        glColor3f(1.0,1.0,0.1);

		glVertex3f(0,0,0);

        glEnd();

        //画线，一对点代表一条线
        const float w = 5;
        const float h = w*0.75;
        const float z = w*0.6;
		
        glLineWidth(2);//线宽
        glColor3f(1.0,1.0,0);
        glBegin(GL_LINES);

		//第一条线,连接如下两个点
        glVertex3f(0,0,0);
		glVertex3f(1,1,1);
        
		//第二条线,连接如下两个点
        glVertex3f(5,1,0.5);
        glVertex3f(w,-h,z);
		//以此类推...
        glVertex3f(5,2,5);
        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();

        // Swap frames and Process Events
        pangolin::FinishFrame();
    }
    
    return 0;
}