forked from logzhan/ORB-SLAM3-UESTC
105 lines
2.4 KiB
C
105 lines
2.4 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 VIEWER_H
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#define VIEWER_H
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#include "FrameDrawer.h"
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#include "MapDrawer.h"
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#include "Tracking.h"
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#include "System.h"
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#include "Settings.h"
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#include <mutex>
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namespace ORB_SLAM3
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{
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class Tracking;
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class FrameDrawer;
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class MapDrawer;
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class System;
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class Settings;
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class Viewer
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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Viewer(System* pSystem, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Tracking *pTracking, const string &strSettingPath, Settings* settings);
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void newParameterLoader(Settings* settings);
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// Main thread function. Draw points, keyframes, the current camera pose and the last processed
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// frame. Drawing is refreshed according to the camera fps. We use Pangolin.
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void Run();
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void RequestFinish();
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void RequestStop();
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bool isFinished();
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bool isStopped();
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bool isStepByStep();
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void Release();
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//void SetTrackingPause();
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bool both;
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private:
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bool ParseViewerParamFile(cv::FileStorage &fSettings);
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bool Stop();
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System* mpSystem;
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FrameDrawer* mpFrameDrawer;
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MapDrawer* mpMapDrawer;
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Tracking* mpTracker;
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// 1/fps in ms
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double mT;
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float mImageWidth, mImageHeight;
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float mImageViewerScale;
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float mViewpointX, mViewpointY, mViewpointZ, mViewpointF;
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bool CheckFinish();
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void SetFinish();
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bool mbFinishRequested;
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bool mbFinished;
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std::mutex mMutexFinish;
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bool mbStopped;
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bool mbStopRequested;
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std::mutex mMutexStop;
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bool mbStopTrack;
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};
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}
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#endif // VIEWER_H
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