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include/MapDrawer.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 MAPDRAWER_H
+#define MAPDRAWER_H
+
+#include"Map.h"
+#include"MapPoint.h"
+#include"KeyFrame.h"
+#include<pangolin/pangolin.h>
+
+#include<mutex>
+
+namespace ORB_SLAM2
+{
+
+class MapDrawer
+{
+public:
+    MapDrawer(Map* pMap, const string &strSettingPath);
+
+    Map* mpMap;
+
+    void DrawMapPoints();
+    void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph);
+    void DrawCurrentCamera(pangolin::OpenGlMatrix &Twc);
+    void SetCurrentCameraPose(const cv::Mat &Tcw);
+    void SetReferenceKeyFrame(KeyFrame *pKF);
+    void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M);
+
+private:
+
+    float mKeyFrameSize;
+    float mKeyFrameLineWidth;
+    float mGraphLineWidth;
+    float mPointSize;
+    float mCameraSize;
+    float mCameraLineWidth;
+
+    cv::Mat mCameraPose;
+
+    std::mutex mMutexCamera;
+};
+
+} //namespace ORB_SLAM
+
+#endif // MAPDRAWER_H