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