ViewTrajectory.cpp

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "visualization/visualizer/ViewTrajectory.h"
 
#include <Logging.h>
#include <json/json.h>
 
#include <Eigen/Dense>
 
namespace cloudViewer {
namespace visualization {
using namespace cloudViewer;
 
const int ViewTrajectory::INTERVAL_MAX = 59;
const int ViewTrajectory::INTERVAL_MIN = 0;
const int ViewTrajectory::INTERVAL_STEP = 1;
const int ViewTrajectory::INTERVAL_DEFAULT = 29;
 
void ViewTrajectory::ComputeInterpolationCoefficients() {
    if (view_status_.empty()) {
        return;
    }
 
    // num_of_status is used frequently, give it an alias
    int n = int(view_status_.size());
    coeff_.resize(n);
 
    // Consider ViewStatus as a point in an 17-dimensional space.
    for (int i = 0; i < n; i++) {
        coeff_[i].setZero();
        coeff_[i].block<17, 1>(0, 0) = view_status_[i].ConvertToVector17d();
    }
 
    // Handle degenerate cases first
    if (n == 1) {
        return;
    } else if (n == 2) {
        coeff_[0].block<17, 1>(0, 1) =
                coeff_[1].block<17, 1>(0, 0) - coeff_[0].block<17, 1>(0, 0);
        coeff_[1].block<17, 1>(0, 1) =
                coeff_[0].block<17, 1>(0, 0) - coeff_[1].block<17, 1>(0, 0);
        return;
    }
 
    Eigen::MatrixXd A(n, n);
    Eigen::VectorXd b(n);
 
    // Set matrix A first
    A.setZero();
 
    // Set first and last line
    if (is_loop_) {
        A(0, 0) = 4.0;
        A(0, 1) = 1.0;
        A(0, n - 1) = 1.0;
        A(n - 1, 0) = 1.0;
        A(n - 1, n - 2) = 1.0;
        A(n - 1, n - 1) = 4.0;
    } else {
        A(0, 0) = 2.0;
        A(0, 1) = 1.0;
        A(n - 1, n - 2) = 1.0;
        A(n - 1, n - 1) = 2.0;
    }
 
    // Set middle part
    for (int i = 1; i < n - 1; i++) {
        A(i, i) = 4.0;
        A(i, i - 1) = 1.0;
        A(i, i + 1) = 1.0;
    }
 
    auto llt_solver = A.llt();
 
    for (int k = 0; k < 17; k++) {
        // Now we work for the k-th coefficient
        b.setZero();
 
        // Set first and last line
        if (is_loop_) {
            b(0) = 3.0 * (coeff_[1](k, 0) - coeff_[n - 1](k, 0));
            b(n - 1) = 3.0 * (coeff_[0](k, 0) - coeff_[n - 2](k, 0));
        } else {
            b(0) = 3.0 * (coeff_[1](k, 0) - coeff_[0](k, 0));
            b(n - 1) = 3.0 * (coeff_[n - 1](k, 0) - coeff_[n - 2](k, 0));
        }
 
        // Set middle part
        for (int i = 1; i < n - 1; i++) {
            b(i) = 3.0 * (coeff_[i + 1](k, 0) - coeff_[i - 1](k, 0));
        }
 
        // Solve the linear system
        Eigen::VectorXd x = llt_solver.solve(b);
 
        for (int i = 0; i < n; i++) {
            int i1 = (i + 1) % n;
            coeff_[i](k, 1) = x(i);
            coeff_[i](k, 2) = 3.0 * (coeff_[i1](k, 0) - coeff_[i](k, 0)) -
                              2.0 * x(i) - x(i1);
            coeff_[i](k, 3) =
                    2.0 * (coeff_[i](k, 0) - coeff_[i1](k, 0)) + x(i) + x(i1);
        }
    }
}
 
std::tuple<bool, ViewParameters> ViewTrajectory::GetInterpolatedFrame(
        size_t k) {
    ViewParameters status;
    if (view_status_.empty() || k >= NumOfFrames()) {
        return std::make_tuple(false, status);
    }
    size_t segment_index = k / (interval_ + 1);
    double segment_fraction =
            double(k - segment_index * (interval_ + 1)) / double(interval_ + 1);
    Eigen::Vector4d s(1.0, segment_fraction,
                      segment_fraction * segment_fraction,
                      segment_fraction * segment_fraction * segment_fraction);
    ViewParameters::Vector17d status_in_vector = coeff_[segment_index] * s;
    status.ConvertFromVector17d(status_in_vector);
    return std::make_tuple(true, status);
}
 
bool ViewTrajectory::ConvertToJsonValue(Json::Value &value) const {
    Json::Value trajectory_array;
    for (const auto &status : view_status_) {
        Json::Value status_object;
        if (!status.ConvertToJsonValue(status_object)) {
            return false;
        }
        trajectory_array.append(status_object);
    }
    value["class_name"] = "ViewTrajectory";
    value["version_major"] = 1;
    value["version_minor"] = 0;
    value["is_loop"] = is_loop_;
    value["interval"] = interval_;
    value["trajectory"] = trajectory_array;
    return true;
}
 
bool ViewTrajectory::ConvertFromJsonValue(const Json::Value &value) {
    if (!value.isObject()) {
        utility::LogWarning(
                "ViewTrajectory read JSON failed: unsupported json format.");
        return false;
    }
    if (value.get("class_name", "").asString() != "ViewTrajectory" ||
        value.get("version_major", 1).asInt() != 1 ||
        value.get("version_minor", 0).asInt() != 0) {
        utility::LogWarning(
                "ViewTrajectory read JSON failed: unsupported json format.");
        return false;
    }
    is_loop_ = value.get("is_loop", false).asBool();
    interval_ = value.get("interval", 29).asInt();
    const Json::Value &trajectory_array = value["trajectory"];
    if (trajectory_array.empty()) {
        utility::LogWarning(
                "ViewTrajectory read JSON failed: empty trajectory.");
        return false;
    }
    view_status_.resize(trajectory_array.size());
    for (int i = 0; i < (int)trajectory_array.size(); i++) {
        const Json::Value &status_object = trajectory_array[i];
        ViewParameters status;
        if (!status.ConvertFromJsonValue(status_object)) {
            return false;
        }
        view_status_[i] = status;
    }
    return true;
}
 
}  // namespace visualization
}  // namespace cloudViewer