CEllipsoidInverseDepth3D.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/CEllipsoidInverseDepth3D.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE( CEllipsoidInverseDepth3D, CRenderizableDisplayList, mrpt::opengl )

/*---------------------------------------------------------------
                                                        transformFromParameterSpace
  ---------------------------------------------------------------*/
  void CEllipsoidInverseDepth3D::transformFromParameterSpace(
        const std::vector<BASE::array_parameter_t> &in_pts,
        std::vector<BASE::array_point_t> & out_pts) const
{
        MRPT_START

        // (inv_range,yaw,pitch) --> (x,y,z)
        const size_t N = in_pts.size();
        out_pts.resize(N);
        for (size_t i=0;i<N;i++)
        {
                const double inv_range   = in_pts[i][0];
                const double yaw   = in_pts[i][1];
                const double pitch = in_pts[i][2];

                const double range = inv_range<0 ? m_underflowMaxRange : (inv_range!=0 ? 1./inv_range : 0);

                out_pts[i][0] = range * cos(yaw)*cos(pitch);
                out_pts[i][1] = range * sin(yaw)*cos(pitch);
                out_pts[i][2] =-range * sin(pitch);
        }

        MRPT_END
}


/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CEllipsoidInverseDepth3D::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version)
                *version = 0;
        else
        {
                writeToStreamRender(out);
                BASE::thisclass_writeToStream(out);

                out << m_underflowMaxRange;
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CEllipsoidInverseDepth3D::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 0:
                {
                        readFromStreamRender(in);
                        BASE::thisclass_readFromStream(in);

                        in >> m_underflowMaxRange;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}