Viewer.cc

/**
* 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 "ORBSLAM/include/PangolinViewer.h"
#include <pangolin/pangolin.h>

#include <mutex>

namespace ORB_SLAM2
{

Viewer::Viewer():
  mbFinishRequested(false), mbStopped(false), mbStopRequested(false){
  cout << "####in Viewer constructor" << endl;
  mbFinished = true;
}

void Viewer::Run()
{
  cout << "####in Viewer run" << endl;
  mbFinished = false;

    while(1) {
	  usleep(5000);
        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;
}

void Viewer::UpdateFrame(Tracking *pTracker) {
  
}

void Viewer::SetCurrentCameraPose(const cv::Mat &Tcw) {
  
}

void Viewer::Register(System* pSystem) {
  mpSystem = pSystem;

}

void Viewer::Finalize(void) {
  
}

}