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include/FrameDrawer.h

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+/**
+* This file is part of ORB-SLAM2.
+*
+* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
+* For more information see <https://github.com/raulmur/ORB_SLAM2>
+*
+* ORB-SLAM2 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-SLAM2 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-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef FRAMEDRAWER_H
+#define FRAMEDRAWER_H
+
+#include "Tracking.h"
+#include "MapPoint.h"
+#include "Map.h"
+
+#include<opencv2/core/core.hpp>
+#include<opencv2/features2d/features2d.hpp>
+
+#include<mutex>
+
+
+namespace ORB_SLAM2
+{
+
+class Tracking;
+class Viewer;
+
+class FrameDrawer
+{
+public:
+    FrameDrawer(Map* pMap);
+
+    // Update info from the last processed frame.
+    void Update(Tracking *pTracker);
+
+    // Draw last processed frame.
+    cv::Mat DrawFrame();
+
+protected:
+
+    void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText);
+
+    // Info of the frame to be drawn
+    cv::Mat mIm;
+    int N;
+    vector<cv::KeyPoint> mvCurrentKeys;
+    vector<bool> mvbMap, mvbVO;
+    bool mbOnlyTracking;
+    int mnTracked, mnTrackedVO;
+    vector<cv::KeyPoint> mvIniKeys;
+    vector<int> mvIniMatches;
+    int mState;
+
+    Map* mpMap;
+
+    std::mutex mMutex;
+};
+
+} //namespace ORB_SLAM
+
+#endif // FRAMEDRAWER_H