43 lines
1.5 KiB
C++
Executable File
43 lines
1.5 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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#ifndef CARTOGRAPHER_IO_DRAW_TRAJECTORIES_H_
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#define CARTOGRAPHER_IO_DRAW_TRAJECTORIES_H_
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#include "cairo/cairo.h"
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#include "cartographer/io/color.h"
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#include "cartographer/mapping/proto/trajectory.pb.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace io {
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using PoseToPixelFunction =
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std::function<Eigen::Array2i(const transform::Rigid3d& pose)>;
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// Draws the 'trajectory' with the given 'color' onto 'surface'. The
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// 'pose_to_pixel' function must translate a trajectory node's position into the
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// pixel on 'surface'.
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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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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_DRAW_TRAJECTORIES_H_
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