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#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
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