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<div class="title">CEnhancedMetaFile.h</div> </div>
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<a href="_c_enhanced_meta_file_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CEnhancedMetaFile_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CEnhancedMetaFile_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_canvas_8h.html">mrpt/utils/CCanvas.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="safe__pointers_8h.html">mrpt/utils/safe_pointers.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/*---------------------------------------------------------------</span>
<a name="l00036"></a>00036 <span class="comment"> Class</span>
<a name="l00037"></a>00037 <span class="comment"> ---------------------------------------------------------------*/</span>
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>utils
<a name="l00041"></a>00041 {<span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** This class represents a Windows Enhanced Meta File (EMF) for generating and saving graphics.</span>
<a name="l00043"></a>00043 <span class="comment"> * If used under Linux, a ".png", non-vectorial, file will be generated instead.</span>
<a name="l00044"></a>00044 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00045"></a>00045 <span class="comment"> */</span>
<a name="l00046"></a>00046 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> CEnhancedMetaFile : <span class="keyword">public</span> CCanvas
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 <span class="keyword">private</span>:
<a name="l00049"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a210c378f6ea68d0030a1ca396d79ccbf">00049</a> <a class="code" href="structmrpt_1_1utils_1_1non__copiable__ptr__basic.html">void_ptr_noncopy</a> <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a210c378f6ea68d0030a1ca396d79ccbf">m_hdc</a>;
<a name="l00050"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a14b30f2de51e48231a14fc8f36e124aa">00050</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a14b30f2de51e48231a14fc8f36e124aa">m_scale</a>;
<a name="l00051"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#ac9f2dd36470505c4f8ef35916722ea8f">00051</a> <a class="code" href="structmrpt_1_1utils_1_1non__copiable__ptr__basic.html">void_ptr_noncopy</a> <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#ac9f2dd36470505c4f8ef35916722ea8f">m_hFont</a>;
<a name="l00052"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a2fd23904b5fbce82bd73a67999983238">00052</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a2fd23904b5fbce82bd73a67999983238">m_targetFile</a>;
<a name="l00053"></a>00053
<a name="l00054"></a>00054 <span class="keyword">public</span>:
<a name="l00055"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a1f367f81f6470cb3b3ee1f9a004d74f3">00055</a> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a1f367f81f6470cb3b3ee1f9a004d74f3" title="In Linux, the size of the bitmap image that emulates the EMF (Default:800)">LINUX_IMG_WIDTH</a>; <span class="comment">//!< In Linux, the size of the bitmap image that emulates the EMF (Default:800)</span>
<a name="l00056"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#af5a3a8473145df00874b275ecc587395">00056</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#af5a3a8473145df00874b275ecc587395" title="In Linux, the size of the bitmap image that emulates the EMF (Default:600)">LINUX_IMG_HEIGHT</a>; <span class="comment">//!< In Linux, the size of the bitmap image that emulates the EMF (Default:600)</span>
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** Constructor</span>
<a name="l00060"></a>00060 <span class="comment"> * \param targetFileName This file will be created and the EMF saved there.</span>
<a name="l00061"></a>00061 <span class="comment"> * \param scaleFactor All coordinates in draw commands will be internally multiplied by this scale, to provide a way of obtaining "subpixel" drawing.</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a>00063 <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html" title="This class represents a Windows Enhanced Meta File (EMF) for generating and saving graphics...">CEnhancedMetaFile</a>(
<a name="l00064"></a>00064 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &targetFileName,
<a name="l00065"></a>00065 <span class="keywordtype">int</span> scaleFactor = 1);
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Destructor</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a>00069 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html" title="This class represents a Windows Enhanced Meta File (EMF) for generating and saving graphics...">CEnhancedMetaFile</a>( );
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Changes the value of the pixel (x,y).</span>
<a name="l00072"></a>00072 <span class="comment"> * Pixel coordinates starts at the left-top corner of the image, and start in (0,0).</span>
<a name="l00073"></a>00073 <span class="comment"> * The meaning of the parameter "color" depends on the implementation: it will usually</span>
<a name="l00074"></a>00074 <span class="comment"> * be a 24bit RGB value (0x00RRGGBB), but it can also be just a 8bit gray level.</span>
<a name="l00075"></a>00075 <span class="comment"> * This method must support (x,y) values OUT of the actual image size without neither</span>
<a name="l00076"></a>00076 <span class="comment"> * raising exceptions, nor leading to memory access errors.</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a>00078 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setPixel( <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">size_t</span> color);
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** Returns the width of the image in pixels (this currently has no applicability for a EMF file...)</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a9946419e1e17b6aa2b8f202f7d92e464">00082</a> <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a9946419e1e17b6aa2b8f202f7d92e464" title="Returns the width of the image in pixels (this currently has no applicability for a EMF file...">getWidth</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> 640; }
<a name="l00083"></a>00083 <span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment"> /** Returns the height of the image in pixels (this currently has no applicability for a EMF file...)</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a9bac0831e47ff1ba79188094bf31f21e">00086</a> <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a9bac0831e47ff1ba79188094bf31f21e" title="Returns the height of the image in pixels (this currently has no applicability for a EMF file...">getHeight</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> 480;}
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Draws an image as a bitmap at a given position.</span>
<a name="l00089"></a>00089 <span class="comment"> * \param x0 The top-left corner x coordinates on this canvas where the image is to be drawn</span>
<a name="l00090"></a>00090 <span class="comment"> * \param y0 The top-left corner y coordinates on this canvas where the image is to be drawn</span>
<a name="l00091"></a>00091 <span class="comment"> * \param img The image to be drawn in this canvas</span>
<a name="l00092"></a>00092 <span class="comment"> * This method may be redefined in some classes implementing this interface in a more appropiate manner.</span>
<a name="l00093"></a>00093 <span class="comment"> */</span>
<a name="l00094"></a>00094 <span class="keyword">virtual</span> <span class="keywordtype">void</span> drawImage(
<a name="l00095"></a>00095 <span class="keywordtype">int</span> x,
<a name="l00096"></a>00096 <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00097"></a>00097 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">utils::CImage</a> &img );
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Draws a line.</span>
<a name="l00100"></a>00100 <span class="comment"> * \param x0 The starting point x coordinate</span>
<a name="l00101"></a>00101 <span class="comment"> * \param y0 The starting point y coordinate</span>
<a name="l00102"></a>00102 <span class="comment"> * \param x1 The end point x coordinate</span>
<a name="l00103"></a>00103 <span class="comment"> * \param y1 The end point y coordinate</span>
<a name="l00104"></a>00104 <span class="comment"> * \param color The color of the line</span>
<a name="l00105"></a>00105 <span class="comment"> * \param width The desired width of the line (this is IGNORED in this virtual class)</span>
<a name="l00106"></a>00106 <span class="comment"> * This method may be redefined in some classes implementing this interface in a more appropiate manner.</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a>00108 <span class="keyword">virtual</span> <span class="keywordtype">void</span> line(
<a name="l00109"></a>00109 <span class="keywordtype">int</span> x0,
<a name="l00110"></a>00110 <span class="keywordtype">int</span> y0,
<a name="l00111"></a>00111 <span class="keywordtype">int</span> x1,
<a name="l00112"></a>00112 <span class="keywordtype">int</span> y1,
<a name="l00113"></a>00113 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color,
<a name="l00114"></a>00114 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1,
<a name="l00115"></a>00115 TPenStyle penStyle = psSolid);
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Places a text label.</span>
<a name="l00118"></a>00118 <span class="comment"> * \param x0 The x coordinates</span>
<a name="l00119"></a>00119 <span class="comment"> * \param y0 The y coordinates</span>
<a name="l00120"></a>00120 <span class="comment"> * \param str The string to put</span>
<a name="l00121"></a>00121 <span class="comment"> * \param color The text color</span>
<a name="l00122"></a>00122 <span class="comment"> * \param fontSize The font size, in "points"</span>
<a name="l00123"></a>00123 <span class="comment"> * This method may be redefined in some classes implementing this interface in a more appropiate manner.</span>
<a name="l00124"></a>00124 <span class="comment"> * \sa rectangle</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a>00126 <span class="keyword">virtual</span> <span class="keywordtype">void</span> textOut(
<a name="l00127"></a>00127 <span class="keywordtype">int</span> x0,
<a name="l00128"></a>00128 <span class="keywordtype">int</span> y0,
<a name="l00129"></a>00129 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str,
<a name="l00130"></a>00130 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color
<a name="l00131"></a>00131 );
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** Select the current font used when drawing text.</span>
<a name="l00134"></a>00134 <span class="comment"> * \param fontName The face name of a font (e.g. "Arial","System",...)</span>
<a name="l00135"></a>00135 <span class="comment"> * \param fontSize The size of the font in pts.</span>
<a name="l00136"></a>00136 <span class="comment"> * \param bold Whether the font is bold</span>
<a name="l00137"></a>00137 <span class="comment"> * \param italic Whether the font is italic</span>
<a name="l00138"></a>00138 <span class="comment"> * \sa textOut</span>
<a name="l00139"></a>00139 <span class="comment"> */</span>
<a name="l00140"></a>00140 <span class="keyword">virtual</span> <span class="keywordtype">void</span> selectTextFont(
<a name="l00141"></a>00141 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &fontName,
<a name="l00142"></a>00142 <span class="keywordtype">int</span> fontSize,
<a name="l00143"></a>00143 <span class="keywordtype">bool</span> bold = <span class="keyword">false</span>,
<a name="l00144"></a>00144 <span class="keywordtype">bool</span> italic = <span class="keyword">false</span> );
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment"> /** Draws an image as a bitmap at a given position, with some custom scale and rotation changes.</span>
<a name="l00147"></a>00147 <span class="comment"> * \param x0 The top-left corner x coordinates on this canvas where the image is to be drawn</span>
<a name="l00148"></a>00148 <span class="comment"> * \param y0 The top-left corner y coordinates on this canvas where the image is to be drawn</span>
<a name="l00149"></a>00149 <span class="comment"> * \param rotation The rotation in radians, positive values being anti-clockwise direction, 0 is the normal position.</span>
<a name="l00150"></a>00150 <span class="comment"> * \param scale The scale factor, e.g. 2 means twice the original size.</span>
<a name="l00151"></a>00151 <span class="comment"> * \param img The image to be drawn in this canvas</span>
<a name="l00152"></a>00152 <span class="comment"> * This method may be redefined in some classes implementing this interface in a more appropiate manner.</span>
<a name="l00153"></a>00153 <span class="comment"> */</span>
<a name="l00154"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a3bc94b28ccb9f6eb1370b950edab1303">00154</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> drawImage(
<a name="l00155"></a>00155 <span class="keywordtype">int</span> x,
<a name="l00156"></a>00156 <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00157"></a>00157 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">utils::CImage</a> &img,
<a name="l00158"></a>00158 <span class="keywordtype">float</span> rotation,
<a name="l00159"></a>00159 <span class="keywordtype">float</span> scale )
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161 <a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a6e3d4fdf972162341e828537cecdd5af" title="Draws an image as a bitmap at a given position.">CCanvas::drawImage</a>(x,y,img,rotation,scale);
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"> /** Draws a rectangle (an empty rectangle, without filling)</span>
<a name="l00166"></a>00166 <span class="comment"> * \param x0 The top-left x coordinate</span>
<a name="l00167"></a>00167 <span class="comment"> * \param y0 The top-left y coordinate</span>
<a name="l00168"></a>00168 <span class="comment"> * \param x1 The right-bottom x coordinate</span>
<a name="l00169"></a>00169 <span class="comment"> * \param y1 The right-bottom y coordinate</span>
<a name="l00170"></a>00170 <span class="comment"> * \param color The color of the line</span>
<a name="l00171"></a>00171 <span class="comment"> * \param width The desired width of the line.</span>
<a name="l00172"></a>00172 <span class="comment"> * \sa filledRectangle</span>
<a name="l00173"></a>00173 <span class="comment"> */</span>
<a name="l00174"></a>00174 <span class="keyword">virtual</span> <span class="keywordtype">void</span> rectangle(
<a name="l00175"></a>00175 <span class="keywordtype">int</span> x0,
<a name="l00176"></a>00176 <span class="keywordtype">int</span> y0,
<a name="l00177"></a>00177 <span class="keywordtype">int</span> x1,
<a name="l00178"></a>00178 <span class="keywordtype">int</span> y1,
<a name="l00179"></a>00179 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color,
<a name="l00180"></a>00180 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1 );
<a name="l00181"></a>00181 <span class="comment"></span>
<a name="l00182"></a>00182 <span class="comment"> /** Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution.</span>
<a name="l00183"></a>00183 <span class="comment"> * \param mean_x The x coordinate of the center point of the ellipse.</span>
<a name="l00184"></a>00184 <span class="comment"> * \param mean_y The y coordinate of the center point of the ellipse.</span>
<a name="l00185"></a>00185 <span class="comment"> * \param cov2D A 2x2 covariance matrix.</span>
<a name="l00186"></a>00186 <span class="comment"> * \param confIntervalStds How many "sigmas" for the confidence level (i.e. 2->95%, 3=99.97%,...)</span>
<a name="l00187"></a>00187 <span class="comment"> * \param color The color of the ellipse</span>
<a name="l00188"></a>00188 <span class="comment"> * \param width The desired width of the line (this is IGNORED in this virtual class)</span>
<a name="l00189"></a>00189 <span class="comment"> * \param nEllipsePoints The number of points to generate to approximate the ellipse shape.</span>
<a name="l00190"></a>00190 <span class="comment"> * \exception std::exception On an invalid matrix.</span>
<a name="l00191"></a>00191 <span class="comment"> */</span>
<a name="l00192"></a>00192 <span class="keyword">template</span> <<span class="keyword">class</span> T>
<a name="l00193"></a><a class="code" href="classmrpt_1_1utils_1_1_c_enhanced_meta_file.html#a51b32be57957192ecb454da381d7a192">00193</a> <span class="keywordtype">void</span> ellipseGaussian(
<a name="l00194"></a>00194 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">math::CMatrixTemplateNumeric<T></a> *cov2D,
<a name="l00195"></a>00195 T mean_x,
<a name="l00196"></a>00196 T mean_y,
<a name="l00197"></a>00197 <span class="keywordtype">float</span> confIntervalStds = 2,
<a name="l00198"></a>00198 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color = <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a>(255,255,255),
<a name="l00199"></a>00199 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1,
<a name="l00200"></a>00200 <span class="keywordtype">int</span> nEllipsePoints = 20
<a name="l00201"></a>00201 )
<a name="l00202"></a>00202 {
<a name="l00203"></a>00203 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00204"></a>00204 <span class="keywordtype">int</span> x1=0,y1=0,x2=0,y2=0;
<a name="l00205"></a>00205 <span class="keywordtype">double</span> ang;
<a name="l00206"></a>00206 math<a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">::CMatrixTemplateNumeric<T></a> eigVal,eigVec;
<a name="l00207"></a>00207 <span class="keywordtype">int</span> i;
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <span class="comment">// Compute the eigen-vectors & values:</span>
<a name="l00210"></a>00210 cov2D->eigenVectors(eigVec,eigVal);
<a name="l00211"></a>00211
<a name="l00212"></a>00212 eigVal.Sqrt();
<a name="l00213"></a>00213 math<a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">::CMatrixTemplateNumeric<T></a> M( eigVal * (~eigVec) );
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="comment">// Compute the points of the 2D ellipse:</span>
<a name="l00216"></a>00216 <span class="keywordflow">for</span> (i=0,ang=0;i<nEllipsePoints;i++,ang+= (<a class="code" href="mrpt__macros_8h.html#a4aa2c43b09c1300c334821f5507d6f71">M_2PI</a>/(nEllipsePoints-1)))
<a name="l00217"></a>00217 {
<a name="l00218"></a>00218 <span class="keywordtype">float</span> ccos = cos(ang);
<a name="l00219"></a>00219 <span class="keywordtype">float</span> ssin = sin(ang);
<a name="l00220"></a>00220
<a name="l00221"></a>00221 x2 = <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( mean_x + confIntervalStds * (ccos * M(0,0) + ssin * M(1,0)) );
<a name="l00222"></a>00222 y2 = <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( mean_y + confIntervalStds * (ccos * M(0,1) + ssin * M(1,1)) );
<a name="l00223"></a>00223
<a name="l00224"></a>00224 <span class="keywordflow">if</span> (i>0)
<a name="l00225"></a>00225 line( x1, y1,x2, y2,color,width );
<a name="l00226"></a>00226
<a name="l00227"></a>00227 x1 = x2;
<a name="l00228"></a>00228 y1 = y2;
<a name="l00229"></a>00229 } <span class="comment">// end for points on ellipse</span>
<a name="l00230"></a>00230
<a name="l00231"></a>00231 <a class="code" href="mrpt__macros_8h.html#aa4441d1a566657479542cee0ffb0a124">MRPT_END_WITH_CLEAN_UP</a>( \
<a name="l00232"></a>00232 std::cout << <span class="stringliteral">"Covariance matrix leading to error is:"</span> << std::endl << *cov2D << std::endl; \
<a name="l00233"></a>00233 );
<a name="l00234"></a>00234 }
<a name="l00235"></a>00235
<a name="l00236"></a>00236
<a name="l00237"></a>00237
<a name="l00238"></a>00238 }; <span class="comment">// End of class def.</span>
<a name="l00239"></a>00239
<a name="l00240"></a>00240 } <span class="comment">// End of namespace</span>
<a name="l00241"></a>00241 } <span class="comment">// end of namespace</span>
<a name="l00242"></a>00242 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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