static vec3_t RotateZ(K rot_sin, K rot_cos, const vec3_t& v) {
return vec3_t {
rot_cos*v.x() - rot_sin*v.y(),
rot_sin*v.x() + rot_cos*v.y(),
v.z()
};
}
vec2_t projectCameraOnRetina(const vec3_t& x_cam) const {
const float q = retina_proj_param_ / x_cam.z();
return q * vec2_t(x_cam.x(), x_cam.y());
}
/** Checks if a point in camera coordinates is visible by the retina */
bool isVisible(const vec3_t& pos) const {
const int ix = static_cast<int>(pos.x() / pos.z() * retina_proj_param_);
const int iy = static_cast<int>(pos.y() / pos.z() * retina_proj_param_);
return -RETINA_SIZE/2 <= ix && ix <= RETINA_SIZE/2
&& -RETINA_SIZE/2 <= iy && iy <= RETINA_SIZE/2;
}