76 lines
1.9 KiB
C
76 lines
1.9 KiB
C
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/**
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* This file is part of ORB-SLAM2.
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*
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* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
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* For more information see <https://github.com/raulmur/ORB_SLAM2>
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*
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* ORB-SLAM2 is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM2 is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef FRAMEDRAWER_H
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#define FRAMEDRAWER_H
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#include "Tracking.h"
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#include "MapPoint.h"
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#include "Map.h"
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#include <opencv2/core/core.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <mutex>
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namespace ORB_SLAM2
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{
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class Tracking;
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class Viewer;
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class FrameDrawer
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{
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public:
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FrameDrawer(Map *pMap);
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// Update info from the last processed frame.
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void Update(Tracking *pTracker);
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// Draw last processed frame.
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cv::Mat DrawFrame();
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protected:
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void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText);
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// Info of the frame to be drawn
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cv::Mat mIm;
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int N;
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vector<cv::KeyPoint> mvCurrentKeys;
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vector<bool> mvbMap, mvbVO;
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bool mbOnlyTracking;
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int mnTracked, mnTrackedVO;
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vector<cv::KeyPoint> mvIniKeys;
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vector<int> mvIniMatches;
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int mState;
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// 用于显示红色动态点
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vector<cv::Point2d> vPointRed;
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vector<vector<double>> mvvLabel; // cls,x,y,w,h
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Map *mpMap;
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std::mutex mMutex;
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};
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} // namespace ORB_SLAM
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#endif // FRAMEDRAWER_H
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