ViewTrajectory.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once

#include <vector>
#include <tuple>
#include <Eigen/Core>
#include <Open3D/Utility/IJsonConvertible.h>
#include <Open3D/Visualization/Visualizer/ViewParameters.h>

namespace open3d {
namespace visualization {

class ViewTrajectory : public 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_ ? (interval_ + 1) * view_status_.size()
                            : (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 open3d