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2021-12-03 03:34:31 -08:00
commit ff4acf84be
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--- a/include/MapDrawer.h
+++ b/include/MapDrawer.h
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+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+*
+* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
+* License as published by the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
+* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#ifndef MAPDRAWER_H
+#define MAPDRAWER_H
+
+#include"Atlas.h"
+#include"MapPoint.h"
+#include"KeyFrame.h"
+#include<pangolin/pangolin.h>
+
+#include<mutex>
+
+namespace ORB_SLAM3
+{
+
+class MapDrawer
+{
+public:
+    MapDrawer(Atlas* pAtlas, const string &strSettingPath);
+
+    Atlas* mpAtlas;
+
+    void DrawMapPoints();
+    void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph, const bool bDrawInertialGraph);
+    void DrawCurrentCamera(pangolin::OpenGlMatrix &Twc);
+    void SetCurrentCameraPose(const cv::Mat &Tcw);
+    void SetReferenceKeyFrame(KeyFrame *pKF);
+    void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M, pangolin::OpenGlMatrix &MOw);
+    void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M, pangolin::OpenGlMatrix &MOw, pangolin::OpenGlMatrix &MTwwp);
+
+private:
+
+    bool ParseViewerParamFile(cv::FileStorage &fSettings);
+
+    float mKeyFrameSize;
+    float mKeyFrameLineWidth;
+    float mGraphLineWidth;
+    float mPointSize;
+    float mCameraSize;
+    float mCameraLineWidth;
+
+    cv::Mat mCameraPose;
+
+    std::mutex mMutexCamera;
+
+    float mfFrameColors[6][3] = {{0.0f, 0.0f, 1.0f},
+                                {0.8f, 0.4f, 1.0f},
+                                {1.0f, 0.2f, 0.4f},
+                                {0.6f, 0.0f, 1.0f},
+                                {1.0f, 1.0f, 0.0f},
+                                {0.0f, 1.0f, 1.0f}};
+};
+
+} //namespace ORB_SLAM
+
+#endif // MAPDRAWER_H