laser_data_cairo.h

Go to the documentation of this file.

#ifndef H_LASER_DATA_CAIRO
#define H_LASER_DATA_CAIRO
 
#include <cairo.h>
#include <options/options.h>
#include "../csm/csm_all.h"
#include "../csm/laser_data_drawing.h"
 
typedef struct {
        /* should we draw it? */
        int draw;
        
        double width;
        const char* color;
        
} line_style ;
 
typedef struct { 
        line_style rays, countour;
        line_style points;
        double points_radius; 
 
        line_style normals;
        double normals_length;
        
        /* A circle at the pose */
        line_style pose;
        double pose_radius;
 
 
        line_style sigma;
        double sigma_multiplier;
        
        double connect_threshold;
        double horizon;
} ld_style;
 
void ls_set_defaults(line_style*ls);
void lds_set_defaults(ld_style*lds);
 
void ls_add_options(line_style*ls, struct option*ops, 
        const char*prefix, const char*desc_prefix);
 
void lds_add_options(ld_style*lds, struct option*ops, 
        const char*prefix, const char*desc_prefix);
 
void cr_set_color(cairo_t *cr, const char* color);
void cr_set_style(cairo_t*cr, line_style*);
void cr_ld_draw(cairo_t* cr, LDP ld, ld_style *p);
void cr_ld_draw_corr(cairo_t*cr, LDP laser_ref, LDP laser_sens);
void cr_ld_draw_sigma(cairo_t*cr, LDP ld, double multiplier);
void cr_set_reference(cairo_t*cr,double*pose);
 
void cr_lda_draw_pose_path(cairo_t*cr, LDP*lda, int nscans, ld_reference use_reference);
 
int create_pdf_surface(const char*file, int max_width_points, int max_height_points,
        double bb_min[2], double bb_max[2], cairo_surface_t**surface_p, cairo_t **cr);
 
int create_image_surface(int width, int height,
        double bb_min[2], double bb_max[2], cairo_surface_t**surface_p, cairo_t **cr);
 
 
 
#endif