/** * This file is part of ORB-SLAM3 * * Copyright (C) 2017-2021 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: EIGEN_MAKE_ALIGNED_OPERATOR_NEW FrameDrawer(Atlas* pAtlas); // Update info from the last processed frame. void Update(Tracking *pTracker); // Draw last processed frame. cv::Mat DrawFrame(float imageScale=1.f); cv::Mat DrawRightFrame(float imageScale=1.f); 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; std::vector<float> mvCurrentDepth; float mThDepth; 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