80 lines
2.5 KiB
C
80 lines
2.5 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <Eigen/Core>
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#include <tuple>
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#include <vector>
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#include "open3d/utility/IJsonConvertible.h"
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#include "open3d/visualization/visualizer/ViewParameters.h"
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namespace open3d {
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namespace visualization {
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class ViewTrajectory : public utility::IJsonConvertible {
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public:
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static const int INTERVAL_MAX;
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static const int INTERVAL_MIN;
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static const int INTERVAL_STEP;
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static const int INTERVAL_DEFAULT;
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public:
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ViewTrajectory() {}
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~ViewTrajectory() override {}
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public:
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/// Function to compute a Cubic Spline Interpolation
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/// See this paper for details:
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/// Bartels, R. H.; Beatty, J. C.; and Barsky, B. A. "Hermite and Cubic
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/// Spline Interpolation." Ch. 3 in An Introduction to Splines for Use in
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/// Computer Graphics and Geometric Modelling. San Francisco, CA: Morgan
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/// Kaufmann, pp. 9-17, 1998.
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/// Also see explanation on this page:
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/// http://mathworld.wolfram.com/CubicSpline.html
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void ComputeInterpolationCoefficients();
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void ChangeInterval(int change) {
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int new_interval = interval_ + change * INTERVAL_STEP;
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if (new_interval >= INTERVAL_MIN && new_interval <= INTERVAL_MAX) {
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interval_ = new_interval;
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}
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}
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size_t NumOfFrames() const {
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if (view_status_.empty()) {
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return 0;
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} else {
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return is_loop_ ? (interval_ + 1) * view_status_.size()
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: (interval_ + 1) * (view_status_.size() - 1) + 1;
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}
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}
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void Reset() {
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is_loop_ = false;
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interval_ = INTERVAL_DEFAULT;
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view_status_.clear();
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}
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std::tuple<bool, ViewParameters> GetInterpolatedFrame(size_t k);
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bool ConvertToJsonValue(Json::Value &value) const override;
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bool ConvertFromJsonValue(const Json::Value &value) override;
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public:
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std::vector<ViewParameters> view_status_;
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bool is_loop_ = false;
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int interval_ = INTERVAL_DEFAULT;
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std::vector<ViewParameters::Matrix17x4d,
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ViewParameters::Matrix17x4d_allocator>
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coeff_;
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};
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} // namespace visualization
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} // namespace open3d
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