65 lines
1.6 KiB
C++
65 lines
1.6 KiB
C++
/**
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* This file is part of ORB-SLAM2.
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*
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* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
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* For more information see <https://github.com/raulmur/ORB_SLAM2>
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*
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* ORB-SLAM2 is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM2 is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MAPDRAWER_H
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#define MAPDRAWER_H
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#include"Map.h"
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#include"MapPoint.h"
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#include"KeyFrame.h"
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#include<pangolin/pangolin.h>
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#include<mutex>
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namespace ORB_SLAM2
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{
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class MapDrawer
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{
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public:
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MapDrawer(Map* pMap, const string &strSettingPath);
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Map* mpMap;
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void DrawMapPoints();
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void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph);
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void DrawCurrentCamera(pangolin::OpenGlMatrix &Twc);
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void SetCurrentCameraPose(const cv::Mat &Tcw);
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void SetReferenceKeyFrame(KeyFrame *pKF);
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void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M);
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private:
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float mKeyFrameSize;
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float mKeyFrameLineWidth;
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float mGraphLineWidth;
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float mPointSize;
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float mCameraSize;
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float mCameraLineWidth;
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cv::Mat mCameraPose;
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std::mutex mMutexCamera;
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};
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} //namespace ORB_SLAM
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#endif // MAPDRAWER_H
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