Viewer.h

 
#if NDEVR_DRAW_SLAM
#ifndef VIEWER_H
#define VIEWER_H
 
 
 
#include <mutex>
 
namespace NDEVR
{
 
class Tracking;
class FrameDrawer;
class MapDrawer;
class OrbSLAM;
class Settings;
struct SLAMParameters;
class Viewer
{
public:
    Viewer(OrbSLAM* pSystem, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Tracking *pTracking, const SLAMParameters& params);
 
    // 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();
 
    void Release();
 
    //void SetTrackingPause();
 
    bool both;
private:
    bool Stop();
 
    OrbSLAM* mpSystem;
    FrameDrawer* mpFrameDrawer;
    MapDrawer* mpMapDrawer;
    Tracking* mpTracker;
 
    // 1/fps in ms
    double mT;
    float mImageWidth, mImageHeight;
    float mImageViewerScale;
 
    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
    
 
#endif