init GPU

CPU_version/vio_svo/include/vio_svo/visualizer.h

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+// This file is part of SVO - Semi-direct Visual Odometry.
+//
+// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
+// (Robotics and Perception Group, University of Zurich, Switzerland).
+//
+// SVO 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 any later version.
+//
+// SVO 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef SVO_VISUALIZER_H_
+#define SVO_VISUALIZER_H_
+
+#include <queue>
+#include <ros/ros.h>
+#include <svo/global.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+#include <tf/transform_broadcaster.h>
+#include <image_transport/image_transport.h>
+#include <boost/thread.hpp>
+#include <boost/shared_ptr.hpp>
+
+namespace svo {
+
+class Frame;
+class Point;
+class Map;
+class FrameHandlerMono;
+
+typedef boost::shared_ptr<Frame> FramePtr;
+
+/// This class bundles all functions to publish visualisation messages.
+class Visualizer
+{
+public:
+  ros::NodeHandle pnh_;
+  size_t trace_id_;
+  ros::Publisher pub_frames_;
+  ros::Publisher pub_points_;
+  ros::Publisher pub_pose_;
+  ros::Publisher pub_info_;
+  tf::TransformBroadcaster br_;
+  SE3 T_world_from_vision_;
+
+  Visualizer();
+
+  ~Visualizer() {};
+
+  void publishMinimal(
+      const cv::Mat& img,
+      const FramePtr& frame,
+      const FrameHandlerMono& slam,
+      const double timestamp);
+
+  void visualizeMarkers(
+      const FramePtr& frame,
+      const set<FramePtr>& core_kfs,
+      const Map& map);
+
+  void removeDeletedPts(const Map& map);
+
+};
+
+} // end namespace svo
+
+#endif /* SVO_VISUALIZER_H_ */