SLAMBench Output - nikolaradulov/SLAMFuse GitHub Wiki

In SLAMBench each algorithm has it's specific outputs, which are set in the sb_init_slam_system function. It's mandatory for a algorithm to have the pose output set, and it should be the main output. Each output should be registered with an OutputManager in order to be displayed by the SLAMBench app.

When Pangolin is run to create the GUI, it retrieves all the output managers existing within the configuration and sends them to the DrawOutput function. This adds largely as a wrapper, which check the type of the Output and further assigns it to an appropriate drawing function. For example the grey camera POV in lsdslam and open_vins, is of the type VT_FRAME, and the output thus gets sent to DrawFrameOutput, which unloads the frame data and pushes it into the frame queue. This will get drawn by pangolin through the DrawQueuedFrame function.