FrameDrawer.h
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1 
21 #ifndef FRAMEDRAWER_H
22 #define FRAMEDRAWER_H
23 
24 #include "Tracking.h"
25 #include "MapPoint.h"
26 #include "Map.h"
27 
28 #include<opencv2/core/core.hpp>
29 #include<opencv2/features2d/features2d.hpp>
30 
31 #include<mutex>
32 
33 
34 namespace ORB_SLAM2
35 {
36 
37 class Tracking;
38 class Viewer;
39 
41 {
42 public:
43  FrameDrawer(Map* pMap);
44 
45  // Update info from the last processed frame.
46  void Update(Tracking *pTracker);
47 
48  // Draw last processed frame.
49  cv::Mat DrawFrame();
50 
51 protected:
52 
53  void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText);
54 
55  // Info of the frame to be drawn
56  cv::Mat mIm;
57  int N;
58  vector<cv::KeyPoint> mvCurrentKeys;
59  vector<bool> mvbMap, mvbVO;
62  vector<cv::KeyPoint> mvIniKeys;
63  vector<int> mvIniMatches;
64  int mState;
65 
67 
68  std::mutex mMutex;
69 };
70 
71 } //namespace ORB_SLAM
72 
73 #endif // FRAMEDRAWER_H
vector< cv::KeyPoint > mvIniKeys
Definition: FrameDrawer.h:62
vector< bool > mvbMap
Definition: FrameDrawer.h:59
vector< cv::KeyPoint > mvCurrentKeys
Definition: FrameDrawer.h:58
vector< int > mvIniMatches
Definition: FrameDrawer.h:63
vector< bool > mvbVO
Definition: FrameDrawer.h:59
void Update(Tracking *pTracker)
void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText)


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47