Pangolin使用——基础代码

#include<iostream>
#include<pangolin/pangolin.h>
int main(int argc,char **argv)
{
    //新建一个窗口
    pangolin::CreateWindowAndBind("Main",640,480);
    //启动深度测试
    glEnable(GL_DEPTH_TEST);
    //定义投影和初始模型视图矩阵 
    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));
    //在窗口中创建交互式视图
    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())
    {
        //清除屏幕并激活要渲染到的视图 
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
        d_cam.Activate(s_cam);
        pangolin::glDrawColouredCube();//画三维方块
        pangolin::glDrawAxis(3);//三维坐标轴，红——x轴，绿——y轴，蓝——z轴