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());
}