pangolin动态点云展示示例[pangolin][动态点云]

0 结果展示

1 下载编译pangolin的库

https://github.com/stevenlovegrove/Pangolin.git
该库中本身含有libpng, libjpg, libzip

2 当需要调用该库时：

调用时依赖如下：(本项目并未上传所有依赖，部分依赖需要单独下载然后放到thirdparty目录里)

# include
F:\prjs\ORB_SLAM3_Fix\ORB_SLAM3\Thirdparty\Pangolin\include;F:\prjs\ORB_SLAM3_Fix\ORB_SLAM3\Thirdparty\Pangolin\build\src\include;F:\prjs\ORB_SLAM3_Fix\ORB_SLAM3\Thirdparty\Pangolin\build\external\glew\include;F:\BASE_ENV\forOpenMVS\eigen;%(AdditionalIncludeDirectories)

# lib
..\..\..\lib\Release\pangolin.lib;opengl32.lib;glu32.lib;..\..\external\glew\lib\glew.lib;..\..\external\libpng\lib\libpng16_static.lib;..\..\external\zlib\lib\zlibstatic.lib;..\..\external\libjpeg\lib\jpeg.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib

3 动态展示点云的示例：

void viewThread(pangolin::OpenGlMatrix &Twc) {
    
    
	pangolin::CreateWindowAndBind("Main", 1024, 768);
	glEnable(GL_DEPTH_TEST);
	// Issue specific OpenGl we might need
	glEnable(GL_BLEND);
	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    
    // Define Projection and initial ModelView matrix
	pangolin::OpenGlRenderState s_cam(
		pangolin::ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000),
		pangolin::ModelViewLookAt(50, 50, 50, 0, 0, 0, pangolin::AxisY)
	);

	glClear(GL_COLOR_BUFFER_BIT);
	glClearColor(1.0f, 1.0f, 1.0f, 1.0f);

	 // Add named OpenGL viewport to window and provide 3D Handler
	 pangolin::View& d_cam = pangolin::CreateDisplay()
	 	.SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f / 768.0f)
	 	.SetHandler(new pangolin::Handler3D(s_cam));
	
	size_t frame = 0;
    while( !pangolin::ShouldQuit() ) {
    
    
        // Clear screen and activate view to render into
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
		glClearColor(1.0f,1.0f,1.0f,1.0f);
        //! Activate Displays and set State Matrices
        d_cam.Activate(s_cam);
		// draw camera
        const float w = 2;
        const float h = w*0.75;
        const float z = w*0.6;
        glPushMatrix();
		glMultMatrixd(Twc.m);
        glLineWidth(1);
        glColor3f(0.0f,1.0f,0.0f);
        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();

		// draw points
		glPointSize(2);
		glBegin(GL_POINTS);
		glColor3f(0.0, 0.0, 0.0);
		
		// get all points to m_pos.m_ppatches
		updatePointsMutex.lock();
		for (size_t p = 0; p < (size_t)allPPatchesRender.size(); ++p)
		{
    
    
			auto patch = *allPPatchesRender[p];
			glVertex3f(
				patch.m_coord[0],
				patch.m_coord[1],
				patch.m_coord[2]
			);
		}
        updatePointsMutex.unlock();
        glEnd();

        // Swap frames and Process Events
        pangolin::FinishFrame();
        
		std::this_thread::sleep_for(std::chrono::milliseconds(100)); // ms
		// std::cout << "frame��" << ++frame << std::endl;
		// std::cout << "point nums are: " << findMatch->m_pos.m_ppatches.size() << std::endl;
    }
}


int main(int argc, char* argv[])
{
    
    
	pangolin::OpenGlMatrix Twc, Twr;
	Twc.SetIdentity();
	std::thread viewThd(viewThread, Twc);

    while(1) {
    
    
...<省略>
        // update render points
        updatePointsMutex.lock();
        allPPatchesRender = findMatch->m_pos.m_ppatches; // to get the newest points
        updatePointsMutex.unlock();
...<省略>
    }


	viewThd.join();

	//writePointCloundPly(prefix);
	releasePMVS();
	return 0;
}