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Viewer.cc
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Viewer.cc
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/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Viewer.h"
#include <pangolin/pangolin.h>
#include <mutex>
namespace ORB_SLAM2
{
Viewer::Viewer(System* pSystem, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Tracking *pTracking, const string &strSettingPath, bool bReuseMap):
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"];
mbReuseMap = bReuseMap;
}
void Viewer::Run()
{
mbFinished = false;
pangolin::CreateWindowAndBind("ORB-SLAM2: Map Viewer",1024,768);
// 3D Mouse handler requires depth testing to be enabled
glEnable(GL_DEPTH_TEST);
// Issue specific OpenGl we might need
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", mbReuseMap,true);
pangolin::Var<bool> menuReset("menu.Reset",false,false);
// Define Camera Render Object (for view / scene browsing)
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)
);
// Add named OpenGL viewport to window and provide 3D Handler
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 = mbReuseMap;
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())
{
usleep(3000);
}
}
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;
}
}