viewer.h

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#pragma once
 
#include "camera.h"
#include "common_include.h"
#include "config.h"
#include "map.h"
 
NAMESPACE_BEGIN
 
class Viewer {
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    typedef std::shared_ptr<Viewer> Ptr;
    typedef std::vector<MapPoint::Ptr> PointsType;
 
    Viewer(const Viewer &) = delete;
    Viewer &operator=(const Viewer &) = delete;
    static Ptr getInstance() {
        static Ptr viewer(new Viewer);
        return viewer;
    }
 
    void run();
 
    void drawFrame(const Frame &frame, const float *color);
 
    void drawCurrFrame() {
        std::unique_lock<std::mutex> lck(m_mutex);
        drawFrame(*m_frame, Config::CURR_FRAME_COLOR);
    }
 
    void drawImage(pangolin::GlTexture &texture);
 
    void drawKeyFrames();
 
    void updateFrame(Frame::Ptr frame) {
        std::unique_lock<std::mutex> viewLck(m_mutex);
        m_frame = frame;
    }
 
    void setMap(const Map::Ptr &map) { m_map = map; }
 
    void setCamera(const Camera::Ptr &camera) { m_camera = camera; }
 
    void drawMapPoints();
 
    void updatePoints(PointsType &&points) {
        std::unique_lock<std::mutex> lck(m_mutex);
        m_points = std::move(points);
    }
 
    void followCurrFrame(pangolin::OpenGlRenderState &renderState);
 
    bool getFlag() {
        std::unique_lock<std::mutex> lck(m_mutex);
        return m_isStop;
    }
 
    void setFlag() {
        std::unique_lock<std::mutex> lck(m_mutex);
        m_isStop = true;
    }
 
private:
    Viewer() = default;
    Map::Ptr m_map;        
    Camera::Ptr m_camera;  
    std::mutex m_mutex;    
    Frame::Ptr m_frame;    
    PointsType m_points;   
    bool m_isStop = false; 
};
 
NAMESPACE_END