<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">%======================================================================
\section{Hazard File Renderings}
\label{sec_hazard_renderings}
%======================================================================

A hazard file may be rendered as shown in Figure \ref{fig_uhz_field}.
In this case, the hazards are read by \app{uFldHazardSensor}, posted
to the \app{MOOSDB} as \mvar{VIEW\_MARKER} objects, and read and
rendered by \app{pMarineViewer}.

\vspace{0.05in}
\begin{figure}[H]
  \centering 
  \includegraphics[width=0.75\textwidth]{figures/ufhz_field.png}
  \caption{{\bf Simulated Hazard Field:} A hazard field with 18 objects is 
    shown, some are hazardous objects, some are benign objects.}
  \label{fig_uhz_field}
\end{figure}
\vspace{0.03in}

\noindent
Since the hazard (and benign) objects in \app{pMarineViewer}, are
simply \mvar{VIEW\_MARKER} objects, they may be toggled off and on
with the \var{'m'} key and the labels may be toggled off and on with
the \var{'M'} key. The can be rendered larger and smaller with
\var{alt-'m'} and \var{ctrl-'m'} respectively, and returned to their
original size with \var{ctrl-alt-'m'}.

\pskip

The shapes and colors of both hazard and benign objects may also be 
altered within the \app{uFldHazardSensor} configuration. By default, 
both hazards and benign objects are rendered as triangles, and hazards
by default are rendered green, and benign objects are light blue. Their
rendered width by default is 8 meters. These defaults may be altered with
the following six \app{uFldHazardSensor} configuration parameters:

\prevblue
\begin{verbatim}
  default_hazard_shape = triangle                 // default    
  default_hazard_color = green                    // default    
  default_hazard_width = 8                        // default    
                                                                
  default_benign_shape = triangle                 // default    
  default_benign_color = light_blue               // default    
  default_benign_width = 8                        // default    
\end{verbatim}
\postverb

\noindent
Other shapes allowable are \var{square}, \var{circle}, and
\var{diamond}.  These are {\em default} values. Rendering
characteristics may be overridden for any particular object. For
example, consider the following entry in a hazard file:

\vspace{0.1in}
\footnotesize
\begin{Verbatim}[frame=single]
hazard = x=224,y=-322,label=51,type=hazard,shape=square,color=yellow,width=20
\end{Verbatim}
\normalsize

\noindent
The specified \var{shape=square}, \var{color=yellow} and
\var{width=20} will override any defaults, making this particular
object stand out visually.


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