99 lines
2.2 KiB
C++
99 lines
2.2 KiB
C++
/**
|
|
* 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
|
|
|
|
|