forked from logzhan/ORB-SLAM3-UESTC
80 lines
2.3 KiB
C
80 lines
2.3 KiB
C
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/**
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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 MAPDRAWER_H
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#define MAPDRAWER_H
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#include"Atlas.h"
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#include"MapPoint.h"
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#include"KeyFrame.h"
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#include "Settings.h"
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#include<pangolin/pangolin.h>
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#include<mutex>
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namespace ORB_SLAM3
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{
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class Settings;
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class MapDrawer
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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MapDrawer(Atlas* pAtlas, const string &strSettingPath, Settings* settings);
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void newParameterLoader(Settings* settings);
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Atlas* mpAtlas;
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void DrawMapPoints();
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void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph, const bool bDrawInertialGraph, const bool bDrawOptLba);
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void DrawCurrentCamera(pangolin::OpenGlMatrix &Twc);
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void SetCurrentCameraPose(const Sophus::SE3f &Tcw);
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void SetReferenceKeyFrame(KeyFrame *pKF);
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void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M, pangolin::OpenGlMatrix &MOw);
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private:
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bool ParseViewerParamFile(cv::FileStorage &fSettings);
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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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Sophus::SE3f mCameraPose;
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std::mutex mMutexCamera;
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float mfFrameColors[6][3] = {{0.0f, 0.0f, 1.0f},
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{0.8f, 0.4f, 1.0f},
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{1.0f, 0.2f, 0.4f},
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{0.6f, 0.0f, 1.0f},
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{1.0f, 1.0f, 0.0f},
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{0.0f, 1.0f, 1.0f}};
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};
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} //namespace ORB_SLAM
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#endif // MAPDRAWER_H
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