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27 const std::vector<BASE::array_parameter_t>& in_pts,
28 std::vector<BASE::array_point_t>& out_pts)
const
33 const size_t N = in_pts.size();
35 for (
size_t i = 0; i < N; i++)
37 const float inv_range = in_pts[i][0];
38 const float yaw = in_pts[i][1];
39 const float pitch = in_pts[i][2];
41 const float range = inv_range < 0
43 : (inv_range != 0 ? 1.f / inv_range : 0);
45 out_pts[i][0] = range * cosf(yaw) * cosf(
pitch);
46 out_pts[i][1] = range * sinf(yaw) * cosf(
pitch);
47 out_pts[i][2] = -range * sinf(
pitch);
57 writeToStreamRender(
out);
58 BASE::thisclass_writeToStream(
out);
60 out << m_underflowMaxRange;
70 readFromStreamRender(in);
71 BASE::thisclass_readFromStream(in);
73 in >> m_underflowMaxRange;
void notifyChange() const
Call to enable calling renderUpdateBuffers() before the next render() rendering iteration.
IMPLEMENTS_SERIALIZABLE(CEllipsoidInverseDepth3D, CRenderizableShaderWireFrame, mrpt::opengl) void CEllipsoidInverseDepth3D
Renderizable generic renderer for objects using the wireframe shader.
mrpt::vision::TStereoCalibResults out
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,...
void transformFromParameterSpace(const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const override
To be implemented by derived classes: maps, using some arbitrary space transformation,...
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
This base provides a set of functions for maths stuff.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
The namespace for 3D scene representation and rendering.
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