00001 /** 00002 * @file CameraMatrix.cpp 00003 * 00004 * Implementation of class CameraMatrix. 00005 */ 00006 00007 #include "CameraMatrix.h" 00008 00009 In& operator>>(In& stream,CameraMatrix& cameraMatrix) 00010 { 00011 // This is a hack to read the validity of the matrix without changing the format 00012 stream.read(&(Pose3D&)cameraMatrix,sizeof(Pose3D)); 00013 cameraMatrix.isValid = cameraMatrix.translation.z >= 0; 00014 if(!cameraMatrix.isValid) 00015 cameraMatrix.translation.z = -cameraMatrix.translation.z; 00016 // stream >> cameraMatrix.frameNumber; 00017 cameraMatrix.frameNumber = 0; 00018 return stream; 00019 } 00020 00021 Out& operator<<(Out& stream, const CameraMatrix& cameraMatrix) 00022 { 00023 // This is a hack to store the validity of the matrix without changing the format 00024 Pose3D pose = cameraMatrix; 00025 if(!cameraMatrix.isValid) 00026 pose.translation.z = -pose.translation.z; 00027 stream.write(&pose,sizeof(Pose3D)); 00028 // stream << cameraMatrix.frameNumber; 00029 return stream; 00030 } 00031 00032 /* 00033 * Change log : 00034 * 00035 * $Log: CameraMatrix.cpp,v $ 00036 * Revision 1.1.1.1 2004/05/22 17:25:44 cvsadm 00037 * created new repository GT2004_WM 00038 * 00039 * Revision 1.2 2003/11/14 19:02:25 goehring 00040 * frameNumber added 00041 * 00042 * Revision 1.1 2003/10/07 10:09:36 cvsadm 00043 * Created GT2004 (M.J.) 00044 * 00045 * Revision 1.1.1.1 2003/07/02 09:40:22 cvsadm 00046 * created new repository for the competitions in Padova from the 00047 * tamara CVS (Tuesday 2:00 pm) 00048 * 00049 * removed unused solutions 00050 * 00051 * Revision 1.2 2003/04/01 16:51:09 roefer 00052 * CameraMatrix contains validity and is calculated in Geometry 00053 * 00054 * Revision 1.1 2002/09/10 15:26:40 cvsadm 00055 * Created new project GT2003 (M.L.) 00056 * - Cleaned up the /Src/DataTypes directory 00057 * - Removed Challenge Code 00058 * - Removed processing of incoming audio data 00059 * - Renamed AcousticMessage to SoundRequest 00060 * 00061 * Revision 1.1.1.1 2002/05/10 12:40:13 cvsadm 00062 * Moved GT2002 Project from ute to tamara. 00063 * 00064 * Revision 1.5 2002/04/02 13:10:18 dueffert 00065 * big change: odometryData and cameraMatrix in image now, old logfiles may be obsolete 00066 * 00067 * Revision 1.4 2002/01/18 12:24:42 mkunz 00068 * camera matrix changed 00069 * 00070 * Revision 1.3 2001/12/10 17:47:05 risler 00071 * change log added 00072 * 00073 */
1.3.6