mapviewer.h

this is software for visual SLAM

// -*- c++ -*-
// Copyright 2008 Isis Innovation Limited
//
// MapViewer.h
//
// Defines the MapViewer class
//
// This defines a simple map viewer widget, which can draw the 
// current map and the camera/keyframe poses within it.
//
#ifndef __MAP_VIEWER_H
#define __MAP_VIEWER_H

#include "Map.h"
#include <TooN/numerics.h>
#include <TooN/se3.h>
#include <sstream>
#include "GLWindow2.h"

class Map;

class MapViewer
{
public:
  MapViewer(Map &map, GLWindow2 &glw);
  void DrawMap(SE3 se3CamFromWorld);
  std::string GetMessageForUser();
  
protected:
  Map &mMap;
  GLWindow2 &mGLWindow;
  
  void DrawGrid();
  void DrawMapDots();
  void DrawCamera(SE3 se3, bool bSmall=false);
  void SetupFrustum();
  void SetupModelView(SE3 se3WorldFromCurrent = SE3());
  
  Vector<3> mv3MassCenter;
  SE3 mse3ViewerFromWorld;

  std::ostringstream mMessageForUser;
};

#endif