源码解读
#include "Viewer.h"
#include <pangolin/pangolin.h>
#include <mutex>
#include "FrameDrawer.h"
#include "MapDrawer.h"
#include "Tracking.h"
#include "System.h"
namespace ORB_SLAM2
{
Viewer::Viewer(System* pSystem, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Tracking *pTracking, const string &strSettingPath):
mpSystem(pSystem), mpFrameDrawer(pFrameDrawer),mpMapDrawer(pMapDrawer), mpTracker(pTracking),
mbFinishRequested(false), mbFinished(true), mbStopped(false), mbStopRequested(false)
{
cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ);
float fps = fSettings["Camera.fps"];
if(fps<1)
fps=30;
mT = 1e3/fps;
mImageWidth = fSettings["Camera.width"];
mImageHeight = fSettings["Camera.height"];
if(mImageWidth<1 || mImageHeight<1)
{
mImageWidth = 640;
mImageHeight = 480;
}
mViewpointX = fSettings["Viewer.ViewpointX"];
mViewpointY = fSettings["Viewer.ViewpointY"];
mViewpointZ = fSettings["Viewer.ViewpointZ"];
mViewpointF = fSettings["Viewer.ViewpointF"];
}
void Viewer::Run()
{
mbFinished = false;
pangolin::CreateWindowAndBind("ORB-SLAM2: Map Viewer",1024,768);
glEnable(GL_DEPTH_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
pangolin::CreatePanel("menu").SetBounds(0.0,1.0,0.0,pangolin::Attach::Pix(175));
pangolin::Var<bool> menuFollowCamera("menu.Follow Camera",true,true);
pangolin::Var<bool> menuShowPoints("menu.Show Points",true,true);
pangolin::Var<bool> menuShowKeyFrames("menu.Show KeyFrames",true,true);
pangolin::Var<bool> menuShowGraph("menu.Show Graph",true,true);
pangolin::Var<bool> menuLocalizationMode("menu.Localization Mode",false,true);
pangolin::Var<bool> menuReset("menu.Reset",false,false);
pangolin::OpenGlRenderState s_cam(
pangolin::ProjectionMatrix(1024,768,mViewpointF,mViewpointF,512,389,0.1,1000),
pangolin::ModelViewLookAt(mViewpointX,mViewpointY,mViewpointZ, 0,0,0,0.0,-1.0, 0.0)
);
pangolin::View& d_cam = pangolin::CreateDisplay()
.SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f/768.0f)
.SetHandler(new pangolin::Handler3D(s_cam));
pangolin::OpenGlMatrix Twc;
Twc.SetIdentity();
cv::namedWindow("ORB-SLAM2: Current Frame");
bool bFollow = true;
bool bLocalizationMode = false;
while(1)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
mpMapDrawer->GetCurrentOpenGLCameraMatrix(Twc);
if(menuFollowCamera && bFollow)
{
s_cam.Follow(Twc);
}
else if(menuFollowCamera && !bFollow)
{
s_cam.SetModelViewMatrix(
pangolin::ModelViewLookAt(mViewpointX,mViewpointY,mViewpointZ, 0,0,0,0.0,-1.0, 0.0));
s_cam.Follow(Twc);
bFollow = true;
}
else if(!menuFollowCamera && bFollow)
{
bFollow = false;
}
if(menuLocalizationMode && !bLocalizationMode)
{
mpSystem->ActivateLocalizationMode();
bLocalizationMode = true;
}
else if(!menuLocalizationMode && bLocalizationMode)
{
mpSystem->DeactivateLocalizationMode();
bLocalizationMode = false;
}
d_cam.Activate(s_cam);
glClearColor(1.0f,1.0f,1.0f,1.0f);
mpMapDrawer->DrawCurrentCamera(Twc);
if(menuShowKeyFrames || menuShowGraph)
mpMapDrawer->DrawKeyFrames(menuShowKeyFrames,menuShowGraph);
if(menuShowPoints)
mpMapDrawer->DrawMapPoints();
pangolin::FinishFrame();
cv::Mat im = mpFrameDrawer->DrawFrame();
cv::imshow("ORB-SLAM2: Current Frame",im);
cv::waitKey(mT);
if(menuReset)
{
menuShowGraph = true;
menuShowKeyFrames = true;
menuShowPoints = true;
menuLocalizationMode = false;
if(bLocalizationMode)
mpSystem->DeactivateLocalizationMode();
bLocalizationMode = false;
bFollow = true;
menuFollowCamera = true;
mpSystem->Reset();
menuReset = false;
}
if(Stop())
{
while(isStopped())
{
std::this_thread::sleep_for(std::chrono::milliseconds(3));
}
}
if(CheckFinish())
break;
}
SetFinish();
}
void Viewer::RequestFinish(){
unique_lock<mutex> lock(mMutexFinish);
mbFinishRequested = true;
}
bool Viewer::CheckFinish()
{
unique_lock<mutex> lock(mMutexFinish);
return mbFinishRequested;
}
void Viewer::SetFinish()
{
unique_lock<mutex> lock(mMutexFinish);
mbFinished = true;
}
bool Viewer::isFinished(){
unique_lock<mutex> lock(mMutexFinish);
return mbFinished;
}
void Viewer::RequestStop()
{
unique_lock<mutex> lock(mMutexStop);
if(!mbStopped)
mbStopRequested = true;
}
bool Viewer::isStopped()
{
unique_lock<mutex> lock(mMutexStop);
return mbStopped;
}
bool Viewer::Stop()
{
unique_lock<mutex> lock(mMutexStop);
unique_lock<mutex> lock2(mMutexFinish);
if(mbFinishRequested)
return false;
else if(mbStopRequested)
{
mbStopped = true;
mbStopRequested = false;
return true;
}
return false;
}
void Viewer::Release(){
unique_lock<mutex> lock(mMutexStop);
mbStopped = false;
}
}