ViewTrajectory.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <IJsonConvertible.h>
 
#include <Eigen/Core>
#include <tuple>
#include <vector>
 
#include "visualization/visualizer/ViewParameters.h"
 
namespace cloudViewer {
namespace visualization {
 
class ViewTrajectory : public cloudViewer::utility::IJsonConvertible {
public:
    static const int INTERVAL_MAX;
    static const int INTERVAL_MIN;
    static const int INTERVAL_STEP;
    static const int INTERVAL_DEFAULT;
 
public:
    ViewTrajectory() {}
    ~ViewTrajectory() override {}
 
public:
    void ComputeInterpolationCoefficients();
 
    void ChangeInterval(int change) {
        int new_interval = interval_ + change * INTERVAL_STEP;
        if (new_interval >= INTERVAL_MIN && new_interval <= INTERVAL_MAX) {
            interval_ = new_interval;
        }
    }
 
    size_t NumOfFrames() const {
        if (view_status_.empty()) {
            return 0;
        } else {
            return is_loop_ ? (static_cast<size_t>(interval_) + 1) *
                                      view_status_.size()
                            : (static_cast<size_t>(interval_) + 1) *
                                              (view_status_.size() - 1) +
                                      1;
        }
    }
 
    void Reset() {
        is_loop_ = false;
        interval_ = INTERVAL_DEFAULT;
        view_status_.clear();
    }
 
    std::tuple<bool, ViewParameters> GetInterpolatedFrame(size_t k);
 
    bool ConvertToJsonValue(Json::Value &value) const override;
    bool ConvertFromJsonValue(const Json::Value &value) override;
 
public:
    std::vector<ViewParameters> view_status_;
    bool is_loop_ = false;
    int interval_ = INTERVAL_DEFAULT;
    std::vector<ViewParameters::Matrix17x4d,
                ViewParameters::Matrix17x4d_allocator>
            coeff_;
};
 
}  // namespace visualization
}  // namespace cloudViewer