CEllipsoidInverseDepth3D.cpp

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/* +------------------------------------------------------------------------+
   |                     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();
}