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Diffstat (limited to 'tools/lighthousefind_tori/visualization.h')
-rw-r--r-- | tools/lighthousefind_tori/visualization.h | 47 |
1 files changed, 47 insertions, 0 deletions
diff --git a/tools/lighthousefind_tori/visualization.h b/tools/lighthousefind_tori/visualization.h new file mode 100644 index 0000000..da69ed2 --- /dev/null +++ b/tools/lighthousefind_tori/visualization.h @@ -0,0 +1,47 @@ + +#ifndef __VISUALIZATION_H +#define __VISUALIZATION_H + +#include <stdio.h> +#include "tori_includes.h" + +extern int pointsWritten; + +void writePoint(FILE *file, double x, double y, double z, unsigned int rgb); + +void updateHeader(FILE * file); + +void writeAxes(FILE * file); + +void drawLineBetweenPoints(FILE *file, Point a, Point b, unsigned int color); + +void writePcdHeader(FILE * file); + +void writePointCloud(FILE *f, Point *pointCloud, unsigned int Color); + +void markPointWithStar(FILE *file, Point point, unsigned int color); + +#define MAX_COLORS 18 +static unsigned int COLORS[] = { + 0x00FFFF, + 0xFF00FF, + 0xFFFF00, + 0xFF0000, + 0x00FF00, + 0x0000FF, + 0x0080FF, + 0x8000FF, + 0x80FF00, + 0x00FF80, + 0xFF0080, + 0xFF8000, + 0x008080, + 0x800080, + 0x808000, + 0x000080, + 0x008000, + 0x800000 +}; +#endif + + |