70 lines
2.3 KiB
C++
Executable File
70 lines
2.3 KiB
C++
Executable File
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/io/draw_trajectories.h"
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#include "cartographer/io/image.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace io {
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void DrawTrajectory(const mapping::proto::Trajectory& trajectory,
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const FloatColor& color,
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const PoseToPixelFunction& pose_to_pixel,
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cairo_surface_t* surface) {
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if (trajectory.node_size() == 0) {
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return;
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}
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constexpr double kTrajectoryWidth = 4.;
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constexpr double kTrajectoryEndMarkers = 6.;
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constexpr double kAlpha = 0.7;
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auto cr = ::cartographer::io::MakeUniqueCairoPtr(cairo_create(surface));
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cairo_set_source_rgba(cr.get(), color[0], color[1], color[2], kAlpha);
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cairo_set_line_width(cr.get(), kTrajectoryWidth);
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for (const auto& node : trajectory.node()) {
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const Eigen::Array2i pixel =
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pose_to_pixel(transform::ToRigid3(node.pose()));
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cairo_line_to(cr.get(), pixel.x(), pixel.y());
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}
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cairo_stroke(cr.get());
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// Draw beginning and end markers.
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{
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const Eigen::Array2i pixel =
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pose_to_pixel(transform::ToRigid3(trajectory.node(0).pose()));
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cairo_set_source_rgba(cr.get(), 0., 1., 0., kAlpha);
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cairo_arc(cr.get(), pixel.x(), pixel.y(), kTrajectoryEndMarkers, 0,
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2 * M_PI);
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cairo_fill(cr.get());
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}
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{
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const Eigen::Array2i pixel = pose_to_pixel(transform::ToRigid3(
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trajectory.node(trajectory.node_size() - 1).pose()));
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cairo_set_source_rgba(cr.get(), 1., 0., 0., kAlpha);
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cairo_arc(cr.get(), pixel.x(), pixel.y(), kTrajectoryEndMarkers, 0,
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2 * M_PI);
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cairo_fill(cr.get());
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}
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cairo_surface_flush(surface);
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}
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} // namespace io
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} // namespace cartographer
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