Try Pangolin(2) - example: SimpleDisplay

Here is the source code provided by Steven Lovegrove's github: https://github.com/stevenlovegrove/Pangolin/blob/master/examples/SimpleDisplay/main.cpp

Original Result at first of all:

The website does not give a very clear explanation about the structure CustomType()

struct CustomType
{
  CustomType()
    : x(0), y(0.0f) {}

  CustomType(int x, float y, std::string z)
    : x(x), y(y), z(z) {}

  int x;
  float y;
  std::string z;
};

To understand C++ key word operator, I referred to this article: http://www.cnblogs.com/xiangxiaodong/archive/2012/02/12/2348144.html

pangolin::ParseVarsFile("/.../app.cfg") is to load configuration data, refer to: http://docs.ros.org/fuerte/api/pangolin_wrapper/html/vars_8cpp.html

To define camera render object

//Define Camera Render Object (for view / scene browsing)
    pangolin::OpenGlRenderState s_cam(
    pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000),
    pangolin::ModelViewLookAt(-0,0.5,-3, 0,0,0, pangolin::AxisY)
    );

    const int UI_WIDTH = 180;

Create panel:

  // Add named Panel and bind to variables beginning 'ui'
  // A Panel is just a View with a default layout and input handling
  pangolin::CreatePanel("ui")
           .SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(UI_WIDTH));

 About pangolin::CreatePanel():

 View& CreatePanel(const std::string& name)
 {
     Panel * p = new Panel(name);
     bool inserted = context->named_managed_views.insert(name, p).second;
    if(!inserted) throw exception();
    context->base.views.push_back(p);
    return *p;
 }

Then we can create variables as below:

  // Safe and efficient binding of named variables.
  // Specializations mean no conversions take place for exact types
  // and conversions between scalar types are cheap.
  pangolin::Var<bool> a_button("ui.A_Button",false,false);
  pangolin::Var<double> a_double("ui.A_Double",3,0,5);
  pangolin::Var<int> an_int("ui.An_Int",2,0,5);
  pangolin::Var<double> a_double_log("ui.Log_scale var",3,1,1E4, true);
  pangolin::Var<bool> a_checkbox("ui.A_Checkbox",false,true);
  pangolin::Var<int> an_int_no_input("ui.An_Int_No_Input",2);
  pangolin::Var<CustomType> any_type("ui.Some_Type", CustomType(0,1.2,"Hello") );

  pangolin::Var<bool> save_window("ui.Save_Window",false,false);
  pangolin::Var<bool> save_cube("ui.Save_Cube",false,false);

  pangolin::Var<bool> record_cube("ui.Record_Cube",false,false);

And other functions about those Vars:

  // Demonstration of how we can register a keyboard hook to alter a Var
  pangolin::RegisterKeyPressCallback(pangolin::PANGO_CTRL + 'b', pangolin::SetVarFunctor<double>("ui.A_Double", 3.5));

  // Demonstration of how we can register a keyboard hook to trigger a method
pangolin::RegisterKeyPressCallback(pangolin::PANGO_CTRL + 'r', SampleMethod);

They will create different types of variables as shown in the result. By pressing "ctrl + b", A_Double would be reset to 3.5.

Um, I don't really understand why Steven Lovegrove added this:

    if( pangolin::Pushed(a_button) )
      std::cout << "You Pushed a button!" << std::endl;

It just made me know pangolin::Pushed( button name ) means I clicked a button...important?

To save an image:

if( pangolin::Pushed(save_window) )
pangolin::SaveWindowOnRender("window");

It's defined in display.h line 112,113:

/// Save window contents to image.
PANGOLIN_EXPORT
void SaveWindowOnRender(std::string filename_prefix);

And to record a video:

if( pangolin::Pushed(record_cube) )
     pangolin::DisplayBase().RecordOnRender("ffmpeg:[fps=50,bps=8388608,unique_filename]//screencap.avi");