Pangolin学习-CSDN博客

本文链接：https://blog.csdn.net/weixin_40511249/article/details/120753447

本文介绍了Pangolin，一个3D绘图库，用于创建窗口、绘制点云、线条、轨迹等。通过示例代码展示了如何设置多窗口、多线程操作，以及GUI元素如按钮的使用，并提供了绘制点、线、三角形的基本方法。此外，还涵盖了如何实现多窗口显示和图像处理。

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参考文献：3D绘图程序库Pangolin安装以及快速入门，使用教程介绍详细，使用Pangolin绘制点云、直线、轨迹等，设置按钮，进行多窗口、多线程操作，以及Pangolin怎么使用等等

2. Base

#include <unistd.h>
#include<pangolin/pangolin.h>

using namespace std;

// 世界坐标: 右, 上, 前 = X, Y, Z
int main()
{
    pangolin::CreateWindowAndBind("My Window"); 
    glEnable(GL_DEPTH_TEST);
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_CONSTANT_ALPHA);

    pangolin::OpenGlRenderState s_cam(
        pangolin::ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 100),
        pangolin::ModelViewLookAt(0, 0, 2, 0, 0, 0, pangolin::AxisY) // 设置向上的坐标方向
    );

    pangolin::Handler3D hander(s_cam);
    pangolin::View &d_cam = pangolin::CreateDisplay();
    d_cam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0f/480.0f);
    d_cam.SetHandler(&hander);
    while (! pangolin::ShouldQuit())
    {
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
        d_cam.Activate(s_cam);
        // 绘制所需要的东西

        // 点
        // glBegin(GL_POINT);
        // glColor3f(1.0, 1.0, 1.0);
        // glVertex3f(0.0f, 0.0f, 0.0f);
        // glVertex3f(1, 0, 0);
        // glVertex3f(0, 2, 0);
        // glEnd();

        // 线
        glBegin(GL_LINES);
        glLineWidth(2.0);
        glColor3f(1.0, 0.0, 0.0);
        glVertex3f(0,0,0);
        glVertex3f(1,0,0);
        glColor3f(0.0, 1.0, 0.0);
        glVertex3f(0,0,0);
        glVertex3f(0,1,0);
        glColor3f(0.0, 0.0, 1.0);
        glVertex3f(0,0,0);
        glVertex3f(0,0,1);
        glEnd();

        // 三角
        // glBegin(GL_TRIANGLES);
        // glVertex3f(0,0,0);
        // glVertex3f(0,1,0);
        // glVertex3f(1,0,0);
        // glEnd();
        
        pangolin::FinishFrame();
    }
    return 0;
}

1. 创建3D窗口

#include<pangolin/pangolin.h>

int main()
{
    pangolin::CreateWindowAndBind("My Window");
    glEnable(GL_DEPTH_TEST);
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_CONSTANT_ALPHA);


    pangolin::OpenGlRenderState s_cam(
        pangolin::ProjectionMatrix(640, 480, 420, 420, 320, 320, 0.2, 100), 
        pangolin::ModelViewLookAt(2, 0, 2, 0, 0, 0, pangolin::AxisY)
    );

    pangolin::Handler3D hander(s_cam);
    pangolin::View &d_cam = pangolin::CreateDisplay().SetBounds(0.0, 1.0, 0.0, 1.0, -640.0f/480.0f)
                                                                                                              .SetHandler(&hander);
    while (! pangolin::ShouldQuit())
    {
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
        d_cam.Activate(s_cam);
        // 绘制所需要的东西
        
        pangolin::FinishFrame();
    }
    return 0;
}

2. 基本画图操作

#include<pangolin/pangolin.h>

int main()
{
    pangolin::CreateWindowAndBind("My Window");
    glEnable(GL_DEPTH_TEST);
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_CONSTANT_ALPHA);


    pangolin::OpenGlRenderState s_cam(
        pangolin::ProjectionMatrix(640, 480, 420, 420, 320, 320, 0.2, 100), 
        pangolin::ModelViewLookAt(2, 0, 2, 0, 0, 0, pangolin::AxisY)
    );

    pangolin::Handler3D hander(s_cam);
    pangolin::View &d_cam = pangolin::CreateDisplay().SetBounds(0.0, 1.0, 0.0, 1.0, -640.0f/480.0f)
                                                                                                              .SetHandler(&hander);
    while (! pangolin::ShouldQuit())
    {
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
        d_cam.Activate(s_cam);
        // 绘制所需要的东西
        glBegin(GL_POINT);
        glColor3f(1.0, 1.0, 1.0);
        glVertex3f(0.0f, 0.0f, 0.0f);
        glVertex3f(1, 0, 0);
        glVertex3f(0, 2, 0);
        glEnd();

        glBegin(GL_LINES);
        glLineWidth(2.0);
        glColor3f(1.0, 1.0, 1.0);
        glVertex3f(0,0,0);
        glVertex3f(1,1,1);
        glColor3f(1.0, 0.0, 0.0);
        glVertex3f(0,0,0);
        glVertex3f(0,1,1);
        glVertex3f(0,0,0);
        glVertex3f(1,0,1);
        glEnd();

        glBegin(GL_TRIANGLES);
        glVertex3f(0,1,1);
        glVertex3f(0,0,0);
        glVertex3f(1,0,1);
        glEnd();
        
        pangolin::FinishFrame();
    }
    return 0;
}

3.GUI操作

#include <pangolin/pangolin.h>

void function(){
    std::cout << "Hello pangolin" << std::endl;
}

int main() {
    pangolin::CreateWindowAndBind("Main",640,480);
    glEnable(GL_DEPTH_TEST);
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

    pangolin::OpenGlRenderState s_cam(
            pangolin::ProjectionMatrix(640,480,420,420,320,320,0.2,100),
            pangolin::ModelViewLookAt(2,0,2, 0,0,0, pangolin::AxisY)
    );

    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);

    pangolin::CreatePanel("ui").SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(180));//创建

    pangolin::Var<bool> a_button("ui.A_Button", false, false);//设置一个按钮，默认值为false，最后一个false表示按钮形式
    pangolin::Var<double> a_double("ui.A_Double", 3, 0, 5);//设置一个double的、可拖动变换值
    pangolin::Var<int> a_int("ui.A_Int", 2, 0, 5);//设置一个int的、可拖动变换值的玩意
    pangolin::Var<std::function<void(void)>> reset("ui.Reset", function);//设置一个按钮，用于调用function函数

    while( !pangolin::ShouldQuit() )
    {
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
        d_cam.Activate(s_cam);

        if (pangolin::Pushed(a_button)){//如果a_button按钮被点，就运行if里面的语句
            std::cout << "You tough a_buttom" << std::endl;
            a_double = 0;
            a_int = 0;
        }

        glColor3f(1.0, 1.0, 1.0);
        pangolin::glDrawColouredCube();

        pangolin::FinishFrame();
    }

    return 0;
}

4. 多窗口显示

#include <iostream>
#include <pangolin/pangolin.h>

void setImageData(unsigned char * imageArray, int size){
    for(int i = 0 ; i < size;i++) {
        imageArray[i] = (unsigned char)(rand()/(RAND_MAX/255.0));
    }
}

int main(/*int argc, char* argv[]*/)
{
    pangolin::CreateWindowAndBind("Main",640,480);

    glEnable(GL_DEPTH_TEST);
    glEnable (GL_BLEND);
    glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

    pangolin::OpenGlMatrix proj = pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000);
    pangolin::OpenGlRenderState s_cam(proj, pangolin::ModelViewLookAt(1,0.5,-2,0,0,0, pangolin::AxisY) );
    pangolin::OpenGlRenderState s_cam2(proj, pangolin::ModelViewLookAt(0,0,-2,0,0,0, pangolin::AxisY) );

    pangolin::View& d_cam1 = pangolin::Display("cam1")
            .SetAspect(640.0f/480.0f)
            .SetHandler(new pangolin::Handler3D(s_cam));

    pangolin::View& d_cam2 = pangolin::Display("cam2")
            .SetAspect(640.0f/480.0f)
            .SetHandler(new pangolin::Handler3D(s_cam2));

    pangolin::View& d_cam3 = pangolin::Display("cam3")
            .SetAspect(640.0f/480.0f)
            .SetHandler(new pangolin::Handler3D(s_cam));

    pangolin::View& d_cam4 = pangolin::Display("cam4")
            .SetAspect(640.0f/480.0f)
            .SetHandler(new pangolin::Handler3D(s_cam2));

    pangolin::View& d_img1 = pangolin::Display("img1")
            .SetAspect(640.0f/480.0f);

    pangolin::View& d_img2 = pangolin::Display("img2")
            .SetAspect(640.0f/480.0f);

    pangolin::Display("multi")
            .SetBounds(0.0, 1.0, 0.0, 1.0)
            .SetLayout(pangolin::LayoutEqual)
            .AddDisplay(d_cam1)
            .AddDisplay(d_img1)
            .AddDisplay(d_cam2)
            .AddDisplay(d_img2)
            .AddDisplay(d_cam3)
            .AddDisplay(d_cam4);

    const int width =  64;
    const int height = 48;
    unsigned char* imageArray = new unsigned char[3*width*height];
    pangolin::GlTexture imageTexture(width,height,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);

    while( !pangolin::ShouldQuit() )
    {
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        setImageData(imageArray,3*width*height);
        imageTexture.Upload(imageArray,GL_RGB,GL_UNSIGNED_BYTE);

        glColor3f(1.0,1.0,1.0);

        d_cam1.Activate(s_cam);
        pangolin::glDrawColouredCube();

        d_cam2.Activate(s_cam2);
        pangolin::glDrawColouredCube();

        d_cam3.Activate(s_cam);
        pangolin::glDrawColouredCube();

        d_cam4.Activate(s_cam2);
        pangolin::glDrawColouredCube();

        d_img1.Activate();
        glColor4f(1.0f,1.0f,1.0f,1.0f);
        imageTexture.RenderToViewport();

        d_img2.Activate();
        glColor4f(1.0f,1.0f,1.0f,1.0f);
        imageTexture.RenderToViewport();

        pangolin::FinishFrame();
    }

    delete[] imageArray;

    return 0;
}