Main MRPT website > C++ reference for MRPT 1.5.7
CEllipsoidInverseDepth3D.cpp
Go to the documentation of this file.
1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #include "opengl-precomp.h" // Precompiled header
11 
13 #include <mrpt/utils/CStream.h>
14 
15 using namespace mrpt;
16 using namespace mrpt::opengl;
17 using namespace mrpt::utils;
18 using namespace mrpt::math;
19 using namespace std;
20 
22 
23 /*---------------------------------------------------------------
24  transformFromParameterSpace
25  ---------------------------------------------------------------*/
26  void CEllipsoidInverseDepth3D::transformFromParameterSpace(
27  const std::vector<BASE::array_parameter_t> &in_pts,
28  std::vector<BASE::array_point_t> & out_pts) const
29 {
31 
32  // (inv_range,yaw,pitch) --> (x,y,z)
33  const size_t N = in_pts.size();
34  out_pts.resize(N);
35  for (size_t i=0;i<N;i++)
36  {
37  const double inv_range = in_pts[i][0];
38  const double yaw = in_pts[i][1];
39  const double pitch = in_pts[i][2];
40 
41  const double range = inv_range<0 ? m_underflowMaxRange : (inv_range!=0 ? 1./inv_range : 0);
42 
43  out_pts[i][0] = range * cos(yaw)*cos(pitch);
44  out_pts[i][1] = range * sin(yaw)*cos(pitch);
45  out_pts[i][2] =-range * sin(pitch);
46  }
47 
48  MRPT_END
49 }
50 
51 
52 /*---------------------------------------------------------------
53  Implements the writing to a CStream capability of
54  CSerializable objects
55  ---------------------------------------------------------------*/
57 {
58  if (version)
59  *version = 0;
60  else
61  {
62  writeToStreamRender(out);
63  BASE::thisclass_writeToStream(out);
64 
65  out << m_underflowMaxRange;
66  }
67 }
68 
69 /*---------------------------------------------------------------
70  Implements the reading from a CStream capability of
71  CSerializable objects
72  ---------------------------------------------------------------*/
74 {
75  switch(version)
76  {
77  case 0:
78  {
79  readFromStreamRender(in);
80  BASE::thisclass_readFromStream(in);
81 
82  in >> m_underflowMaxRange;
83  } break;
84  default:
86  };
88 }
GLsizei range
Definition: glext.h:5281
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Definition: zip.h:16
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
This must be inserted in all CSerializable classes implementation files.
void writeToStream(mrpt::utils::CStream &out, int *getVersion) const
Introduces a pure virtual method responsible for writing to a CStream.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) variable.
void readFromStream(mrpt::utils::CStream &in, int version)
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly...
STL namespace.
A renderizable object suitable for rendering with OpenGL&#39;s display lists.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
A numeric matrix of compile-time fixed size.
This base provides a set of functions for maths stuff.
Definition: CArrayNumeric.h:19
#define MRPT_END
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
int version
Definition: mrpt_jpeglib.h:898
#define MRPT_START
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLuint in
Definition: glext.h:6301
The namespace for 3D scene representation and rendering.
typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLclampf red



Page generated by Doxygen 1.8.14 for MRPT 1.5.7 Git: 8277875f6 Mon Jun 11 02:47:32 2018 +0200 at lun oct 28 01:50:49 CET 2019