CCamera.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/CCamera.h>
#include <mrpt/serialization/CArchive.h>

#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;

using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CCamera, CRenderizable, mrpt::opengl)

/*--------------------------------------------------------------
                    CCamera
  ---------------------------------------------------------------*/
CCamera::CCamera()
    : m_pointingX(0),
      m_pointingY(0),
      m_pointingZ(0),
      m_distanceZoom(10),
      m_azimuthDeg(45),
      m_elevationDeg(45),
      m_projectiveModel(true),
      m_projectiveFOVdeg(30),
      m_6DOFMode(false)
{
}

uint8_t CCamera::serializeGetVersion() const { return 1; }
void CCamera::serializeTo(mrpt::serialization::CArchive& out) const
{
    // Save data:
    out << m_pointingX << m_pointingY << m_pointingZ << m_distanceZoom
        << m_azimuthDeg << m_elevationDeg << m_projectiveModel
        << m_projectiveFOVdeg;
}

void CCamera::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 1:
        {
            // Load data:
            in >> m_pointingX >> m_pointingY >> m_pointingZ >> m_distanceZoom >>
                m_azimuthDeg >> m_elevationDeg >> m_projectiveModel >>
                m_projectiveFOVdeg;
        }
        break;
        case 0:
        {
            in >> m_pointingX >> m_pointingY >> m_pointingZ >> m_distanceZoom >>
                m_azimuthDeg >> m_elevationDeg;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}

/** In this class, returns a fixed box (max,max,max), (-max,-max,-max). */
void CCamera::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min = mrpt::math::TPoint3D(
        std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
        std::numeric_limits<double>::max());
    bb_max = mrpt::math::TPoint3D(
        -std::numeric_limits<double>::max(),
        -std::numeric_limits<double>::max(),
        -std::numeric_limits<double>::max());
}