ORB_SLAM2::MapDrawer Class Reference

#include <MapDrawer.h>

Public Member Functions
void	DrawCurrentCamera (pangolin::OpenGlMatrix &Twc)
void	DrawKeyFrames (const bool bDrawKF, const bool bDrawGraph)
void	DrawMapPoints ()
void	GetCurrentOpenGLCameraMatrix (pangolin::OpenGlMatrix &M)
	MapDrawer (Map *pMap, const string &strSettingPath)
void	SetCurrentCameraPose (const cv::Mat &Tcw)
void	SetReferenceKeyFrame (KeyFrame *pKF)

Public Attributes
Map *	mpMap

Private Attributes
float	mCameraLineWidth
cv::Mat	mCameraPose
float	mCameraSize
float	mGraphLineWidth
float	mKeyFrameLineWidth
float	mKeyFrameSize
std::mutex	mMutexCamera
float	mPointSize

Detailed Description

Definition at line 34 of file MapDrawer.h.

Constructor & Destructor Documentation

ORB_SLAM2::MapDrawer::MapDrawer	(	Map *	pMap,
		const string &	strSettingPath
	)

Member Function Documentation

void ORB_SLAM2::MapDrawer::DrawCurrentCamera

(

pangolin::OpenGlMatrix &

Twc

)

void ORB_SLAM2::MapDrawer::DrawKeyFrames	(	const bool	bDrawKF,
		const bool	bDrawGraph
	)

void ORB_SLAM2::MapDrawer::DrawMapPoints

(

)

void ORB_SLAM2::MapDrawer::GetCurrentOpenGLCameraMatrix

(

pangolin::OpenGlMatrix &

M

)

void ORB_SLAM2::MapDrawer::SetCurrentCameraPose

(

const cv::Mat &

Tcw

)

void ORB_SLAM2::MapDrawer::SetReferenceKeyFrame

(

KeyFrame *

pKF

)

Member Data Documentation

float ORB_SLAM2::MapDrawer::mCameraLineWidth

private

Definition at line 55 of file MapDrawer.h.

cv::Mat ORB_SLAM2::MapDrawer::mCameraPose

private

Definition at line 57 of file MapDrawer.h.

float ORB_SLAM2::MapDrawer::mCameraSize

private

Definition at line 54 of file MapDrawer.h.

float ORB_SLAM2::MapDrawer::mGraphLineWidth

private

Definition at line 52 of file MapDrawer.h.

float ORB_SLAM2::MapDrawer::mKeyFrameLineWidth

private

Definition at line 51 of file MapDrawer.h.

float ORB_SLAM2::MapDrawer::mKeyFrameSize

private

Definition at line 50 of file MapDrawer.h.

std::mutex ORB_SLAM2::MapDrawer::mMutexCamera

private

Definition at line 59 of file MapDrawer.h.

Map* ORB_SLAM2::MapDrawer::mpMap

Definition at line 39 of file MapDrawer.h.

float ORB_SLAM2::MapDrawer::mPointSize

private

Definition at line 53 of file MapDrawer.h.

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The documentation for this class was generated from the following file:

• MapDrawer.h