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Pangolin安装记录

news 2025/10/21 15:35:30

1.Ubuntu 22 环境

sudo apt-get install libglew-dev libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt install cmake
sudo apt install g++ gcc
sudo apt install libeigen3-dev
sudo apt install libepoxy-devsudo apt-get update
sudo apt-get install python3-dev
sudo apt-get install python3-setuptools python3-wheel克隆pangolin的源代码到本地;cd ./Pangolin/    
mkdir build 
cd ./build
cmake ..
makesudo make installsudo ldconfig   #更新共享库CMakeLists.txt:
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIR})
target_link_libraries(<可执行文件名> ${Pangolin_LIBRARIES})

CMakeLists.txt:

cmake_minimum_required(VERSION 3.18.0)
project(aa VERSION 0.1.0 LANGUAGES C CXX)
find_package(Pangolin REQUIRED) #找包
include_directories(${Pangolin_INCLUDE_DIR}) #头文件
add_executable(aa main.cpp)
target_link_libraries(aa ${Pangolin_LIBRARIES}) #库

#include <pangolin/pangolin.h>int main( ) {// 创建窗口pangolin::CreateWindowAndBind("Cube Demo", 640, 480);// 启用深度测试glEnable(GL_DEPTH_TEST);// 设置相机pangolin::OpenGlRenderState s_cam(pangolin::ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.1, 1000),pangolin::ModelViewLookAt(-2, 2, -2, 0, 0, 0, pangolin::AxisY));// 创建交互处理器pangolin::Handler3D handler(s_cam);// 创建显示视图pangolin::View& d_cam = pangolin::CreateDisplay().SetBounds(0.0, 1.0, 0.0, 1.0, -640.0f/480.0f).SetHandler(&handler);while(!pangolin::ShouldQuit()) {// 清空颜色和深度缓存glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);// 激活显示视图d_cam.Activate(s_cam);// 绘制彩色立方体 :cite[1]:cite[7]pangolin::glDrawColouredCube();// 刷新帧pangolin::FinishFrame();}return 0;
}