Skip to content

removed redundant variables and menus #23

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Jerryaa98 wants to merge 1 commit into
base: windows
Choose a base branch
from
Open

removed redundant variables and menus #23

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions slam/include/FrameDrawer.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,8 @@ class FrameDrawer

void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText);

void DrawRectangleAndCircle(float x, float y, float width);

// Info of the frame to be drawn
cv::Mat mIm;
int N;
Expand Down
48 changes: 23 additions & 25 deletions slam/src/FrameDrawer.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -124,42 +124,33 @@ namespace ORB_SLAM2 {

// This is a match to a MapPoint in the map
if (vbMap[i]) {

glColor3f(0, 1.0f, 0);
glBegin(GL_LINE_LOOP);
glVertex2f(x1 - width, y1 - width);
glVertex2f(x1 - width, y1 + width);
glVertex2f(x1 + width, y1 + width);
glVertex2f(x1 + width, y1 - width);
glEnd();

glBegin(GL_POINTS);
glVertex2f(x1, y1);
glEnd();

DrawRectangleAndCircle(x1, y1, width);
mnTracked++;
}
else // This is match to a "visual odometry" MapPoint created in the last frame
{
glColor3f(0, 1.0f, 0);
glBegin(GL_LINE_LOOP);
glVertex2f(x1 - width, y1 - width);
glVertex2f(x1 - width, y1 + width);
glVertex2f(x1 + width, y1 + width);
glVertex2f(x1 + width, y1 - width);
glEnd();

glBegin(GL_POINTS);
glVertex2f(x1, y1);
glEnd();

DrawRectangleAndCircle(x1, y1, width);
mnTrackedVO++;
}
}
}
}
}

void FrameDrawer::DrawRectangleAndCircle(float x, float y, float width) {
glColor3f(0, 1.0f, 0);
glBegin(GL_LINE_LOOP);
glVertex2f(x - width, y - width);
glVertex2f(x - width, y + width);
glVertex2f(x + width, y + width);
glVertex2f(x + width, y - width);
glEnd();

glBegin(GL_POINTS);
glVertex2f(x, y);
glEnd();
}


void FrameDrawer::DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText) {
stringstream s;
Expand Down Expand Up @@ -191,6 +182,13 @@ namespace ORB_SLAM2 {
imText.rowRange(im.rows, imText.rows) = cv::Mat::zeros(textSize.height + 10, im.cols, im.type());
cv::putText(imText, s.str(), cv::Point(5, imText.rows - 5), cv::FONT_HERSHEY_PLAIN, 1,
cv::Scalar(255, 255, 255), 1, 8);
/*glColor3f(1.0f, 1.0f, 1.0f);
glRasterPos2f(5, imText.rows - 5);
int len, i;
len = s.str().size();
for (i = 0; i < len; i++) {
glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, s.str()[i]);
}*/

}

Expand Down
Loading