92 lines
2.4 KiB
C++
92 lines
2.4 KiB
C++
/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by 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-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of 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 along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef FRAMEDRAWER_H
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#define FRAMEDRAWER_H
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#include "Tracking.h"
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#include "MapPoint.h"
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#include "Atlas.h"
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#include<opencv2/core/core.hpp>
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#include<opencv2/features2d/features2d.hpp>
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#include<mutex>
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#include <unordered_set>
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namespace ORB_SLAM3
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{
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class Tracking;
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class Viewer;
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class FrameDrawer
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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FrameDrawer(Atlas* pAtlas);
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// Update info from the last processed frame.
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void Update(Tracking *pTracker);
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// Draw last processed frame.
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cv::Mat DrawFrame(float imageScale=1.f);
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cv::Mat DrawRightFrame(float imageScale=1.f);
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bool both;
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protected:
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void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText);
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// Info of the frame to be drawn
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cv::Mat mIm, mImRight;
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int N;
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vector<cv::KeyPoint> mvCurrentKeys,mvCurrentKeysRight;
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vector<bool> mvbMap, mvbVO;
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bool mbOnlyTracking;
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int mnTracked, mnTrackedVO;
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vector<cv::KeyPoint> mvIniKeys;
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vector<int> mvIniMatches;
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int mState;
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std::vector<float> mvCurrentDepth;
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float mThDepth;
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Atlas* mpAtlas;
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std::mutex mMutex;
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vector<pair<cv::Point2f, cv::Point2f> > mvTracks;
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Frame mCurrentFrame;
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vector<MapPoint*> mvpLocalMap;
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vector<cv::KeyPoint> mvMatchedKeys;
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vector<MapPoint*> mvpMatchedMPs;
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vector<cv::KeyPoint> mvOutlierKeys;
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vector<MapPoint*> mvpOutlierMPs;
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map<long unsigned int, cv::Point2f> mmProjectPoints;
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map<long unsigned int, cv::Point2f> mmMatchedInImage;
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};
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} //namespace ORB_SLAM
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#endif // FRAMEDRAWER_H
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