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2021-12-03 03:34:31 -08:00
commit ff4acf84be
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--- a/include/FrameDrawer.h
+++ b/include/FrameDrawer.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 FRAMEDRAWER_H
+#define FRAMEDRAWER_H
+
+#include "Tracking.h"
+#include "MapPoint.h"
+#include "Atlas.h"
+
+#include<opencv2/core/core.hpp>
+#include<opencv2/features2d/features2d.hpp>
+
+#include<mutex>
+#include <unordered_set>
+
+
+namespace ORB_SLAM3
+{
+
+class Tracking;
+class Viewer;
+
+class FrameDrawer
+{
+public:
+    FrameDrawer(Atlas* pAtlas);
+
+    // Update info from the last processed frame.
+    void Update(Tracking *pTracker);
+
+    // Draw last processed frame.
+    cv::Mat DrawFrame(bool bOldFeatures=true);
+    cv::Mat DrawRightFrame();
+
+    bool both;
+
+protected:
+
+    void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText);
+
+    // Info of the frame to be drawn
+    cv::Mat mIm, mImRight;
+    int N;
+    vector<cv::KeyPoint> mvCurrentKeys,mvCurrentKeysRight;
+    vector<bool> mvbMap, mvbVO;
+    bool mbOnlyTracking;
+    int mnTracked, mnTrackedVO;
+    vector<cv::KeyPoint> mvIniKeys;
+    vector<int> mvIniMatches;
+    int mState;
+
+    Atlas* mpAtlas;
+
+    std::mutex mMutex;
+    vector<pair<cv::Point2f, cv::Point2f> > mvTracks;
+
+    Frame mCurrentFrame;
+    vector<MapPoint*> mvpLocalMap;
+    vector<cv::KeyPoint> mvMatchedKeys;
+    vector<MapPoint*> mvpMatchedMPs;
+    vector<cv::KeyPoint> mvOutlierKeys;
+    vector<MapPoint*> mvpOutlierMPs;
+
+    map<long unsigned int, cv::Point2f> mmProjectPoints;
+    map<long unsigned int, cv::Point2f> mmMatchedInImage;
+
+};
+
+} //namespace ORB_SLAM
+
+#endif // FRAMEDRAWER_H