pangolin

pangolin是一个轻量的3D库，可用于3维重建、SLAM的中点云数据的可视化等

依赖项

这里安装的是基于pangolin的python版项目，项目原地址https://github.com/uoip/pangolin#Dependencies
依赖项

• GLEW
• OpenGL

安装

git clone https://github.com/uoip/pangolin.git
cd pangolin
mkdir build
cd build
cmake ..
make -j8
cd ..
python setup.py install

安装依赖项

sudo apt-get install libglew-dev
pip install PyOpenGL PyOpenGL_accelerate

报错

安装时会提示如下报错

NameError: name 'install_dirs' is not defined

解决方案：
修改pangolin文件夹中的setup.py文件，在19行下面添加下面这一句

install_dirs = [install_dir]

测试

官方的测试demo，运行这个demo还需要安装numpy

import numpy as np
import OpenGL.GL as gl
import pangolin

pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)

# Define Projection and initial ModelView matrix
scam = pangolin.OpenGlRenderState(
    pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 100),
    pangolin.ModelViewLookAt(-2, 2, -2, 0, 0, 0, pangolin.AxisDirection.AxisY))
handler = pangolin.Handler3D(scam)

# Create Interactive View in window
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0/480.0)
dcam.SetHandler(handler)

while not pangolin.ShouldQuit():
    gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
    gl.glClearColor(1.0, 1.0, 1.0, 1.0)
    dcam.Activate(scam)
    
    # Render OpenGL Cube
    pangolin.glDrawColouredCube()

    # Draw Point Cloud
    points = np.random.random((100000, 3)) * 10
    gl.glPointSize(2)
    gl.glColor3f(1.0, 0.0, 0.0)
    pangolin.DrawPoints(points)

    pangolin.FinishFrame()

效果