CEllipsoidInverseDepth3D.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/opengl/CEllipsoidInverseDepth3D.h>
#include <mrpt/serialization/CArchive.h>

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

IMPLEMENTS_SERIALIZABLE(
    CEllipsoidInverseDepth3D, CRenderizableShaderWireFrame, 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 float inv_range = in_pts[i][0];
        const float yaw = in_pts[i][1];
        const float pitch = in_pts[i][2];

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

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

    MRPT_END
}

uint8_t CEllipsoidInverseDepth3D::serializeGetVersion() const { return 0; }
void CEllipsoidInverseDepth3D::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    BASE::thisclass_writeToStream(out);

    out << m_underflowMaxRange;
}

void CEllipsoidInverseDepth3D::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            readFromStreamRender(in);
            BASE::thisclass_readFromStream(in);

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