Pangolin學習

0.1. 資料

泡泡機器人

github example

opengl中攝像機的位置，觀察的方向

gluLookAt函數

0.2. 使用說明

使用這個gluLookAt矩陣坐標觀察矩陣可以很高效地把所有世界坐標變換為觀察坐標LookAt矩陣

find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})

target_link_libraries(pangolin_test ${Pangolin_LIBRARIES})

Github 下有個example有一些例子，簡單的參照著寫，複雜的估計需要查opengl.

0.3. HelloPangolin

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

int main(int argc, char **argv)
{
    //創建一個視窗
    pangolin::CreateWindowAndBind("Main",640,480);
    //啟動深度測試
    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),
            //對應的是gluLookAt,攝像機位置,參考點位置,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 有關
    //看SimpleDisplay中邊界的設置就知道
    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();\
        //坐標軸的創建
        pangolin::glDrawAxis(3);

        //點的創建
        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();

        //把下麵的點都做一次旋轉變換
        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());

        //直線的創建
        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

參照SimplePlot, !pangolin::ShouldQuit()換成ros::ok(),就可以

參照SimpleDisplay，　可以做出選項配置