FrameDrawer.h

#if NDEVR_DRAW_SLAM
#ifndef FRAMEDRAWER_H
#define FRAMEDRAWER_H
 
#include "OrbSLAM/Headers/Tracking.h"
#include "OrbSLAM/Headers/MapPoint.h"
#include "OrbSLAM/Headers/Atlas.h"
 
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
 
#include <mutex>
#include <unordered_set>
 
 
namespace NDEVR
{
 
class Tracking;
class Viewer;

class FrameDrawer
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    FrameDrawer(Atlas* pAtlas);

    void Update(Tracking *pTracker);

    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);
 
    cv::Mat mIm, mImRight;                                  
    int N;                                                  
    PrimitiveAlignedBuffer<cv::KeyPoint, 32> mvCurrentKeys, mvCurrentKeysRight; 
    Buffer<bool> mvbMap, mvbVO;                             
    bool mbOnlyTracking;                                    
    int mnTracked, mnTrackedVO;                             
    PrimitiveAlignedBuffer<cv::KeyPoint, 32> mvIniKeys;     
    Buffer<int> mvIniMatches;                               
    int mState;                                             
    Buffer<float> mvCurrentDepth;                           
    float mThDepth;                                         
 
    Atlas* mpAtlas;                                         
 
    std::mutex mMutex;                                      
    Buffer<pair<cv::Point2f, cv::Point2f> > mvTracks;       
 
    Frame mCurrentFrame;                                    
    Buffer<MapPoint*> mvpLocalMap;                          
    PrimitiveAlignedBuffer<cv::KeyPoint, 32> mvMatchedKeys; 
    Buffer<MapPoint*> mvpMatchedMPs;                        
    PrimitiveAlignedBuffer<cv::KeyPoint, 32> mvOutlierKeys; 
    Buffer<MapPoint*> mvpOutlierMPs;                        
 
    Dictionary<long unsigned int, cv::Point2f> mmProjectPoints;     
    Dictionary<long unsigned int, cv::Point2f> mmMatchedInImage;    
 
};
 
} //namespace ORB_SLAM
 
#endif // FRAMEDRAWER_H
#endif