/**
 * This file is part of ORB-SLAM2.
 *
 * Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
 * For more information see <https://github.com/raulmur/ORB_SLAM2>
 *
 * ORB-SLAM2 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-SLAM2 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-SLAM2. If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef MAPDRAWER_H
#define MAPDRAWER_H

#include "Map.h"
#include "MapPoint.h"
#include "MapObject.h"
#include "KeyFrame.h"
#include <pangolin/pangolin.h>

#include <mutex>

namespace ORB_SLAM2
{

    class MapDrawer
    {
    public:
        MapDrawer(Map *pMap, const string &strSettingPath);

        Map *mpMap;

        void DrawMapPoints();
        void DrawMapObjects();
        void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph);
        void DrawCurrentCamera(pangolin::OpenGlMatrix &Twc);
        void SetCurrentCameraPose(const cv::Mat &Tcw);
        void SetReferenceKeyFrame(KeyFrame *pKF);
        void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M);

    private:
        float mKeyFrameSize;
        float mKeyFrameLineWidth;
        float mGraphLineWidth;
        float mPointSize;
        float mCameraSize;
        float mCameraLineWidth;

        cv::Mat mCameraPose;

        std::mutex mMutexCamera;
    };

} // namespace ORB_SLAM

#endif // MAPDRAWER_H