void SensorPolar2D::backProject(Matrix* M, int* indices, Matrix* T)
{
Timer t;
Matrix PoseInv = getTransformation();
PoseInv.invert();
if(T)
PoseInv *= *T;
Matrix coords2D = Matrix::multiply(PoseInv, *M, false, true);
const double angularResInv = 1.0 / _angularRes;
for(unsigned int i=0; i<M->getRows(); i++)
{
const double phi = atan2(coords2D(1,i), coords2D(0,i));
if(phi<=_phiLowerBound) indices[i] = -1;
else if(phi>=_phiUpperBound) indices[i] = -1;
else indices[i] = round((phi-_phiMin) * angularResInv);
}
}
SkString GrGLShaderBuilder::ensureFSCoords2D(const TransformedCoordsArray& coords, int index) {
if (kVec3f_GrSLType != coords[index].type()) {
SkASSERT(kVec2f_GrSLType == coords[index].type());
return coords[index].getName();
}
SkString coords2D("coords2D");
if (0 != index) {
coords2D.appendf("_%i", index);
}
this->fsCodeAppendf("\tvec2 %s = %s.xy / %s.z;",
coords2D.c_str(), coords[index].c_str(), coords[index].c_str());
return coords2D;
}
