Pangolin

Pretty neat visualization tool.

They have some good examples:

• https://github.com/stevenlovegrove/Pangolin/blob/master/examples/VBODisplay/main.cpp (using a CUDA kernel)
• https://github.com/stevenlovegrove/Pangolin/blob/master/examples/HelloPangolinThreads/main.cpp (multi-threading)

Difference vs. matplotlib?

• Pangolin is a lot faster for real-time graphics rendering, since it makes use of OpenGL. Matplotlib is more primitive as it uses the CPU to generate graphics.
• If you want to render things in 3D space, you should make use of Pangolin

s_cam vs. d_cam: I think you should always have

self.d_cam.Activate(self.s_cam)

Because if you think about it, you actually are reasoning in terms of two cameras:

• there’s the camera inside the thing (s_cam, and then there’s another camera to render this camera (these two can be different)