/**
*?This?file?is?part?of?LSD-SLAM.
*
*?Copyright?2013?Jakob?Engel??（Technical?University?of?Munich）
*?For?more?information?see??
*
*?LSD-SLAM?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.
*
*?LSD-SLAM?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?LSD-SLAM.?If?not?see?.
*/

#include?“DebugOutput3DWrapper.h“
#include?“l(fā)sd_slam\util\sophus_util.h“
#include?“l(fā)sd_slam\util\settings.h“

//#include?“l(fā)sd_slam_viewer/keyframeGraphMsg.h“
//#include?“l(fā)sd_slam_viewer/keyframeMsg.h“

#include?“l(fā)sd_slam/model/frame.h“
#include?“l(fā)sd_slam/global_mapping/key_frame_graph.h“
#include?“sophus/sim3.hpp“
#include?“l(fā)sd_slam/global_mapping/g2o_type_sim3_sophus.h“
#include?

namespace?lsd_slam
{


DebugOutput3DWrapper::DebugOutput3DWrapper（int?width?int?height）
{
	cvNamedWindow（“Tracking_output“?1）;?//Create?window
	this->width?=?width;
	this->height?=?height;

	/*liveframe_channel?=?nh_.resolveName（“l(fā)sd_slam/liveframes“）;
	liveframe_publisher?=?nh_.advertiseameMsg>（liveframe_channel1）;

	keyframe_channel?=?nh_.resolveName（“l(fā)sd_slam/keyframes“）;
	keyframe_publisher?=?nh_.advertiseameMsg>（keyframe_channel1）;

	graph_channel?=?nh_.resolveName（“l(fā)sd_slam/graph“）;
	graph_publisher?=?nh_.advertiseameGraphMsg>（graph_channel1）;

	debugInfo_channel?=?nh_.resolveName（“l(fā)sd_slam/debug“）;
	debugInfo_publisher?=?nh_.advertise（debugInfo_channel1）;

	pose_channel?=?nh_.resolveName（“l(fā)sd_slam/pose“）;
	pose_publisher?=?nh_.advertise（pose_channel1）;*/

	tracker_display?=?cv::Mat::ones（640?480?CV_8UC1）;
	cv::circle（tracker_display?cv::Point（100100）?20?cv::Scalar（0?255?0））;
	cv::imshow（“Tracking_output“?tracker_display）;
	cvWaitKey（10）;
	publishLvl=0;
}

DebugOutput3DWrapper::~DebugOutput3DWrapper（）
{
}


void?DebugOutput3DWrapper::publishKeyframe（frame*?f）
{
	KeyframeMessage?fMsg;


	boost::shared_lock?lock?=?f->getActiveLock（）;

	fMsg.id?=?f->id（）;
	fMsg.time?=?f->timestamp（）;
	fMsg.isKeyframe?=?true;

	int?w?=?f->width（publishLvl）;
	int?h?=?f->height（publishLvl）;

	memcpy（fMsg.camToWorld.data（）?f->getScaledCamToWorld（）.cast（）.data（）?sizeof（float）*7）;
	fMsg.fx?=?f->fx（publishLvl）;
	fMsg.fy?=?f->fy（publishLvl）;
	fMsg.cx?=?f->cx（publishLvl）;
	fMsg.cy?=?f->cy（publishLvl）;
	fMsg.width?=?w;
	fMsg.height?=?h;

	

	//fMsg.pointcloud.resize（w*h*sizeof（InputPointDense））;

	//Inp

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-01-14?08:59??lsd_slam-master\
?????文件????????1079??2015-01-14?08:59??lsd_slam-master\.gitignore
?????文件????????7931??2015-01-14?08:59??lsd_slam-master\CMakeLists.txt
?????文件???????35121??2015-01-14?08:59??lsd_slam-master\License.txt
?????文件????????1320??2015-01-14?08:59??lsd_slam-master\Readme.md
?????文件????????2156??2015-01-14?08:59??lsd_slam-master\WindowsBuildInstruction.md
?????目錄???????????0??2015-01-14?08:59??lsd_slam-master\apps\
?????文件??????????85??2015-01-14?08:59??lsd_slam-master\apps\CMakeLists.txt
?????目錄???????????0??2015-01-14?08:59??lsd_slam-master\apps\slam\
?????文件?????????952??2015-01-14?08:59??lsd_slam-master\apps\slam\CMakeLists.txt
?????文件????????8011??2015-01-14?08:59??lsd_slam-master\apps\slam\DebugOutput3DWrapper.cpp
?????文件????????3192??2015-01-14?08:59??lsd_slam-master\apps\slam\DebugOutput3DWrapper.h
?????文件????????2095??2015-01-14?08:59??lsd_slam-master\apps\slam\main_live_odometry.cc
?????文件????????8864??2015-01-14?08:59??lsd_slam-master\apps\slam\main_on_images.cc
?????文件????????2451??2015-01-14?08:59??lsd_slam-master\apps\slam\sample_app.cc
?????目錄???????????0??2015-01-14?08:59??lsd_slam-master\cmake\
?????文件????????7121??2015-01-14?08:59??lsd_slam-master\cmake\LsdSlamConfig.cmake.in
?????文件????????3439??2015-01-14?08:59??lsd_slam-master\cmake\LsdSlamDependencies.cmake
?????文件????????3619??2015-01-14?08:59??lsd_slam-master\cmake\LsdSlamDependencies_Config.cmake.in
?????文件????????6751??2015-01-14?08:59??lsd_slam-master\cmake\LsdSlamUtil.cmake
?????文件????????1025??2015-01-14?08:59??lsd_slam-master\cmake\cmake_uninstall.cmake.in
?????目錄???????????0??2015-01-14?08:59??lsd_slam-master\cmake\modules\
?????文件????????3413??2015-01-14?08:59??lsd_slam-master\cmake\modules\FindG2O.cmake
?????文件????????2787??2015-01-14?08:59??lsd_slam-master\cmake\modules\FindSuiteParse.cmake
?????文件???????26059??2015-01-14?08:59??lsd_slam-master\cmake\modules\FindSuiteSparse.cmake
?????目錄???????????0??2015-01-14?08:59??lsd_slam-master\data\
?????文件???????51768??2015-01-14?08:59??lsd_slam-master\data\out_camera_data.xml
?????目錄???????????0??2015-01-14?08:59??lsd_slam-master\doc\
?????文件???????83496??2015-01-14?08:59??lsd_slam-master\doc\cmake-step1-configure.png
?????文件??????114908??2015-01-14?08:59??lsd_slam-master\doc\cmake-step2-paths-edit.png
?????文件???????87012??2015-01-14?08:59??lsd_slam-master\doc\cmake-step3-reconfigure.png
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