v01

thirdparty/Pangolin/examples/HelloPangolinOffscreen/CMakeLists.txt

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+# Find Pangolin (https://github.com/stevenlovegrove/Pangolin)
+find_package(Pangolin 0.5 REQUIRED)
+include_directories(${Pangolin_INCLUDE_DIRS})
+
+add_executable(HelloPangolinOffscreen main.cpp)
+target_link_libraries(HelloPangolinOffscreen ${Pangolin_LIBRARIES})

thirdparty/Pangolin/examples/HelloPangolinOffscreen/main.cpp

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+#include <pangolin/pangolin.h>
+
+int main( int /*argc*/, char** /*argv*/ )
+{
+    static const int w = 640;
+    static const int h = 480;
+
+    pangolin::CreateWindowAndBind("Main",w,h,pangolin::Params({{"scheme", "headless"}}));
+    glEnable(GL_DEPTH_TEST);
+
+    // Define Projection and initial ModelView matrix
+    pangolin::OpenGlRenderState s_cam(
+        pangolin::ProjectionMatrix(w,h,420,420,320,240,0.2,100),
+        pangolin::ModelViewLookAt(-2,2,-2, 0,0,0, pangolin::AxisY)
+    );
+
+    // Create Interactive View in window
+    pangolin::Handler3D handler(s_cam);
+    pangolin::View& d_cam = pangolin::CreateDisplay()
+            .SetBounds(0.0, 1.0, 0.0, 1.0, -float(w)/float(h))
+            .SetHandler(&handler);
+
+    pangolin::SaveWindowOnRender("window");
+
+    // create a frame buffer object with colour and depth buffer
+    pangolin::GlTexture color_buffer(w,h);
+    pangolin::GlRenderBuffer depth_buffer(w,h);
+    pangolin::GlFramebuffer fbo_buffer(color_buffer, depth_buffer);
+    fbo_buffer.Bind();
+
+    // Clear screen and activate view to render into
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+    d_cam.Activate(s_cam);
+
+    // Render OpenGL Cube
+    pangolin::glDrawColouredCube();
+
+    // Swap frames and Process Events
+    pangolin::FinishFrame();
+
+    fbo_buffer.Unbind();
+    // download and save the colour buffer
+    color_buffer.Save("fbo.png", false);
+
+    pangolin::QuitAll();
+    
+    return 0;
+}