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# Representations/Perception/CameraMatrix.cpp

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    00001 /**
    00002  * @file CameraMatrix.cpp
    00003  *
    00004  * Implementation of class CameraMatrix.
    00005  */
    00006
    00007 #include "CameraMatrix.h"
    00008 #include "Tools/Streams/Streamable.h"
    00009
    00010 In& operator>>(In& stream,CameraMatrix& cameraMatrix)
    00011 {
    00012   // This is a hack to read the validity of the matrix without changing the format
    00013   /*
    00014   stream >> (Pose3D&)cameraMatrix;
    00015   cameraMatrix.isValid = cameraMatrix.translation.z >= 0;
    00016   if(!cameraMatrix.isValid)
    00017     cameraMatrix.translation.z = -cameraMatrix.translation.z;
    00018 //  stream >> cameraMatrix.frameNumber;
    00019   cameraMatrix.frameNumber = 0;
    00020   */
    00021   STREAM_REGISTER_BEGIN_EXT( cameraMatrix);
    00022   STREAM_BASE_EXT( stream, (Pose3D&)cameraMatrix);
    00023   STREAM_EXT( stream, cameraMatrix.isValid);
    00024   STREAM_EXT( stream, cameraMatrix.frameNumber);
    00025   STREAM_REGISTER_FINISH();
    00026   cameraMatrix.frameNumber = 0;
    00027   return stream;
    00028 }
    00029
    00030 Out& operator<<(Out& stream, const CameraMatrix& cameraMatrix)
    00031 {
    00032   STREAM_REGISTER_BEGIN_EXT( cameraMatrix);
    00033   STREAM_BASE_EXT( stream, (Pose3D&)cameraMatrix);
    00034   STREAM_EXT( stream, cameraMatrix.isValid);
    00035   STREAM_EXT( stream, cameraMatrix.frameNumber);
    00036   STREAM_REGISTER_FINISH();
    00037   // This is a hack to store the validity of the matrix without changing the format
    00038   /*
    00039   Pose3D pose = cameraMatrix;
    00040   if(!cameraMatrix.isValid)
    00041     pose.translation.z = -pose.translation.z;
    00042   stream << pose;
    00043   */
    00044 //  stream << cameraMatrix.frameNumber;
    00045   return stream;
    00046 }