void CAnimationTrack::Sample( float animTime, Transform& fromKeyFrame, Transform& toKeyFrame, float& weight ) const
{
size_t fromKeyIndex = size_t(animTime * AnimationFrameRate) % (m_keyFrameCount - 1);
size_t toKeyIndex = ( fromKeyIndex + 1 ) % (m_keyFrameCount - 1);// Min( fromKeyIndex + 1, m_keyFrameCount - 1 );
GetKeyFrame( fromKeyIndex, fromKeyFrame );
GetKeyFrame( toKeyIndex, toKeyFrame );
weight = animTime * AnimationFrameRate - ((float)fromKeyIndex);
}
bool ViewerIBA::OnKeyDown(int key) {
#ifdef __linux__
if (key == VW_KEY_CTRL_KEY_VALUE) {
m_ctrlDown = true;
return true;
}
if (m_ctrlDown) {
key = key - 'a' + 1;
}
#endif
if (Viewer::OnKeyDown(key)) {
return true;
}
//#ifdef CFG_DEBUG
#if 0
//#if 1
UT::Print("%d\n", key);
#endif
//#ifdef CFG_DEBUG
#if 0
if (key == '+' || key == '-') {
Camera &C = m_LBA->m_CsLF[m_iLFActive];
if (key == '+') {
C.m_p.y() += 0.1f;
} else {
C.m_p.y() -= 0.1f;
}
C.m_T.SetPosition(C.m_p);
return true;
}
#endif
#ifdef CFG_STEREO
if (key == '1' || key == '2') {
ActivateCamera(key == '2');
return true;
}
#endif
const int nKFs = GetKeyFrames();
const bool activeKF = m_iFrmActive < nKFs;
switch (key) {
case VW_KEY_XD_DRAW_VIEW_TYPE:
if (m_keyDrawViewType == DRAW_VIEW_PROFILE) {
m_keyDrawViewType = m_keyDrawViewTypeBkp;
} else {
m_keyDrawViewType.Press();
}
return true;
case VW_KEY_XD_PAUSE: m_keyPause.Press(); return true;
case VW_KEY_XD_STEP: m_keyStep.Press(); return true;
case VW_KEY_XD_SAVE:
if (m_fileNameSave == "") {
m_fileNameSave = UT::Input<std::string>("save_file");
}
m_iFrmSave = GetLocalFrame(m_iLF)->m_T.m_iFrm;
m_keyStep.Press();
//m_handler.Quit();
return true;
case VW_KEY_XD_SCREEN:
if (m_fileNameScreen == "") {
m_fileNameScreen = UT::Input<std::string>("screen_file");
}
if (m_fileNameScreen != "" && UT::FileNameExtractSuffix<int>(m_fileNameScreen) == -1) {
bool resize = m_pWnd->size().x != m_K.m_K.w() || m_pWnd->size().y != m_K.m_K.h();
if (resize) {
const char inp = UT::Input<char>("resize (y/n)");
if (inp != 'y' && inp != 'Y') {
resize = false;
}
}
SaveScreen(UT::FileNameAppendSuffix(m_fileNameScreen), resize);
}
return true;
//case VW_KEY_XD_ACTIVATE_NEXT_FRAME: ActivateFrame(m_iFrmActive + 1); return true;
//case VW_KEY_XD_ACTIVATE_LAST_FRAME: ActivateFrame(m_iFrmActive - 1); return true;
case VW_KEY_XD_ACTIVATE_NEXT_FRAME:
case VW_KEY_XD_ACTIVATE_LAST_FRAME: {
const bool next = key == VW_KEY_XD_ACTIVATE_NEXT_FRAME;
int iFrm = next ? m_iFrmActive + 1 : m_iFrmActive - 1;
if (m_iFtrActive.Valid()) {
const int nLFs = GetLocalFrames(), nFrms = nKFs + nLFs;
const int iKF = m_iFtrActive.m_ix.m_iKF, ix = m_iFtrActive.m_ix.m_ix;
while (iFrm >= 0 && iFrm < nFrms && iFrm != iKF) {
const FRM::Frame &F = *(iFrm < nKFs ? GetKeyFrame(iFrm) :
GetLocalFrame((iFrm - nKFs + m_iLF + 1) % nLFs));
const int iz = F.SearchFeatureMeasurement(iKF, ix);
if (iz != -1
#ifdef CFG_STEREO
&& (!m_rightActive && F.m_zs[iz].m_z.Valid() || m_rightActive && F.m_zs[iz].m_zr.Valid())
#endif
) {
break;
}
iFrm = next ? iFrm + 1 : iFrm - 1;
}
}
ActivateFrame(iFrm);
return true;
}
case VW_KEY_XD_ACTIVATE_KEY_FRAME:
if (m_iFtrActive.m_ix.Valid()) {
ActivateFrame(m_iFtrActive.m_ix.m_iKF);
} else {
ActivateFrame(m_iKFActive);
}
return true;
case VW_KEY_XD_ACTIVATE_LOCAL_FRAME:
if (m_iFtrActive.m_iz.Valid() && m_iFtrActive.m_iz.m_iLF != -1) {
ActivateLocalFrame(m_iFtrActive.m_iz.m_iLF);
} else if (activeKF) {
ActivateLocalFrame(m_iLFActive);
} else {
ActivateLocalFrame(m_iLFActiveLast);
}
return true;
case VW_KEY_XD_ACTIVATE_CURRENT_FRAME:
ActivateLocalFrame(m_iLF);
return true;
case VW_KEY_XD_DRAW_CAMERA_TYPE_NEXT:
case VW_KEY_XD_DRAW_CAMERA_TYPE_LAST:
if (activeKF) {
m_keyDrawCamTypeKF.Press(key == VW_KEY_XD_DRAW_CAMERA_TYPE_NEXT, false);
switch (m_keyDrawCamTypeKF) {
case DRAW_CAM_KF_LBA:
m_keyDrawCamTypeLF = DRAW_CAM_LF_LBA;
m_keyDrawDepType = DRAW_DEP_LBA;
break;
case DRAW_CAM_KF_GBA:
m_keyDrawDepType = DRAW_DEP_GBA;
break;
#ifdef CFG_GROUND_TRUTH
case DRAW_CAM_KF_GT:
m_keyDrawCamTypeLF = DRAW_CAM_LF_GT;
if (!m_solver->m_internal->m_DsGT.empty()) {
m_keyDrawDepType = DRAW_DEP_GT;
}
break;
#endif
}
} else {
m_keyDrawCamTypeLF.Press(key == VW_KEY_XD_DRAW_CAMERA_TYPE_NEXT, false);
switch (m_keyDrawCamTypeLF) {
case DRAW_CAM_LF_LBA:
m_keyDrawCamTypeKF = DRAW_CAM_KF_LBA;
m_keyDrawDepType = DRAW_DEP_LBA;
break;
#ifdef CFG_GROUND_TRUTH
case DRAW_CAM_LF_GT:
m_keyDrawCamTypeKF = DRAW_CAM_KF_GT;
if (!m_solver->m_internal->m_DsGT.empty()) {
m_keyDrawDepType = DRAW_DEP_GT;
}
break;
#endif
}
}
ActivateFrame(m_iFrmActive);
return true;
#ifdef CFG_GROUND_TRUTH
case VW_KEY_XD_DRAW_CAMERA_TYPE_GROUND_TRUTH:
if (activeKF && m_keyDrawCamTypeKF == DRAW_CAM_KF_GT) {
m_keyDrawCamTypeKF.Set(DRAW_CAM_KF_GBA);
m_keyDrawDepType = DRAW_DEP_GBA;
} else if (!activeKF && m_keyDrawCamTypeLF == DRAW_CAM_LF_GT) {
m_keyDrawCamTypeKF.Set(DRAW_CAM_KF_LBA);
m_keyDrawCamTypeLF = DRAW_CAM_LF_LBA;
m_keyDrawDepType = DRAW_DEP_LBA;
} else if (activeKF && GetCameraKF(m_iKFActive, DRAW_CAM_KF_GT).Valid() ||
!activeKF && GetCameraLF(m_iLFActive, DRAW_CAM_LF_GT).Valid()) {
m_keyDrawCamTypeKF.Set(DRAW_CAM_KF_GT);
m_keyDrawCamTypeLF = DRAW_CAM_LF_GT;
if (!m_solver->m_internal->m_DsGT.empty()) {
m_keyDrawDepType = DRAW_DEP_GT;
}
}
ActivateFrame(m_iFrmActive);
return true;
#endif
case VW_KEY_XD_DRAW_DEPTH_TYPE_NEXT:
case VW_KEY_XD_DRAW_DEPTH_TYPE_LAST:
m_keyDrawDepType.Press(key == VW_KEY_XD_DRAW_DEPTH_TYPE_NEXT, false);
return true;
case VW_KEY_XD_DRAW_STRING: m_keyDrawString.Press(); return true;
case VW_KEY_XD_DRAW_TIME_LINE: m_keyDrawTlnType.Press(); return true;
case VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_INCREASE_1:
case VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_DECREASE_1:
case VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_INCREASE_2:
case VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_DECREASE_2:
if (m_keyDrawTlnType == DRAW_TLN_FEATURE_MATCH) {
m_keyDrawTlnMaxFtrMatches.Press(key == VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_DECREASE_1 ||
key == VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_DECREASE_2);
} else if (key == VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_INCREASE_1 ||
key == VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_DECREASE_1) {
m_keyDrawTlnPriorVarPos.Press(key == VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_INCREASE_1);
} else {
m_keyDrawTlnPriorVarRot.Press(key == VW_KEY_XD_DRAW_TIME_LINE_BRIGHTNESS_INCREASE_2);
}
return true;
}
if (m_keyDrawViewType == DRAW_VIEW_2D || m_keyDrawViewType == DRAW_VIEW_3D) {
switch (key) {
case VW_KEY_XD_DRAW_AXIS:
m_keyDrawAxis.Press();
return true;
case VW_KEY_XD_DRAW_AXIS_LENGTH_INCREASE:
case VW_KEY_XD_DRAW_AXIS_LENGTH_DECREASE:
if (m_keyDrawAxis != DRAW_AXIS_NONE) {
m_keyDrawAxisLen.Press(key == VW_KEY_XD_DRAW_AXIS_LENGTH_INCREASE);
m_frustrum.SetAxisLength(m_keyDrawAxisLen);
m_frustrumActive.SetAxisLength(m_keyDrawAxisLen);
return true;
}
break;
case VW_KEY_XD_DRAW_DEPTH_PLANE:
m_keyDrawDepPlane.Press();
return true;
case VW_KEY_XD_DRAW_DEPTH_VARIANCE_INCREASE:
case VW_KEY_XD_DRAW_DEPTH_VARIANCE_DECREASE:
m_keyDrawDepVar.Press(key == VW_KEY_XD_DRAW_DEPTH_VARIANCE_INCREASE);
return true;
case VW_KEY_XD_DRAW_COVARIANCE_PROBABILITY_INCREASE:
case VW_KEY_XD_DRAW_COVARIANCE_PROBABILITY_DECREASE:
if (m_keyDrawTlnType != DRAW_TLN_NONE ||
(m_keyDrawViewType == DRAW_VIEW_2D && (m_keyDrawErrType2D == DRAW_ERR_ALL ||
m_keyDrawErrType2D == DRAW_ERR_COVARIANCE)) ||
(m_keyDrawViewType == DRAW_VIEW_3D && (m_keyDrawErrType3D == DRAW_ERR_ALL ||
m_keyDrawErrType3D == DRAW_ERR_COVARIANCE))) {
m_keyDrawCovProb.Press(key == VW_KEY_XD_DRAW_COVARIANCE_PROBABILITY_INCREASE);
return true;
}
break;
case VW_KEY_XD_DRAW_COVARIANCE_SCALE_INCREASE:
case VW_KEY_XD_DRAW_COVARIANCE_SCALE_DECREASE:
if (m_keyDrawTlnType != DRAW_TLN_NONE ||
(m_keyDrawViewType == DRAW_VIEW_2D && (m_keyDrawErrType2D == DRAW_ERR_ALL ||
m_keyDrawErrType2D == DRAW_ERR_COVARIANCE)
|| m_keyDrawViewType == DRAW_VIEW_3D && (m_keyDrawErrType3D == DRAW_ERR_ALL ||
m_keyDrawErrType3D == DRAW_ERR_COVARIANCE))) {
m_keyDrawCovScale.Press(key == VW_KEY_XD_DRAW_COVARIANCE_SCALE_INCREASE);
return true;
}
break;
case VW_KEY_XD_INPUT_ACTIVE_FEATURE: {
const int iFrm = UT::Input<int>(" Frame");
const std::vector<KeyFrame>::const_iterator iKF = std::lower_bound(m_GBA->m_KFs.begin(),
m_GBA->m_KFs.end(), iFrm);
if (iKF != m_GBA->m_KFs.end() && *iKF == iFrm) {
const int ix = UT::Input<int>("Source");
if (ix < 0 || ix >= static_cast<int>(iKF->m_xs.size())) {
return false;
}
const int _iKF = static_cast<int>(iKF - m_GBA->m_KFs.begin());
const FRM::Frame &F = *(activeKF ? GetKeyFrame(m_iKFActive) : GetLocalFrame(m_iLFActive));
const int iz = F.SearchFeatureMeasurement(_iKF, ix);
ActivateFeature(FeatureIndex::Source(_iKF, ix), iz);
}
return false;
}
case VW_KEY_PROFILE_ACTIVATE:
if (m_keyDrawViewType != DRAW_VIEW_PROFILE) {
m_keyDrawViewTypeBkp = m_keyDrawViewType;
m_keyDrawViewType = DRAW_VIEW_PROFILE;
}
return true;
}
} else if (m_keyDrawViewType == DRAW_VIEW_PROFILE) {
switch (key) {
case VW_KEY_PROFILE_ACTIVATE:
m_keyDrawViewType = m_keyDrawViewTypeBkp;
return true;
case VM_KEY_PROFILE_LEVEL_1_NEXT:
case VM_KEY_PROFILE_LEVEL_1_LAST: {
const int types[] = {DRAW_PRF_ACCELERATION, DRAW_PRF_IMU_DELTA_ROTATION_STATE,
DRAW_PRF_CAMERA_PRIOR_ROTATION_STATE, DRAW_PRF_REPROJECTION_ERROR,
DRAW_PRF_STATE_ROTATION_ABSOLUTE,
DRAW_PRF_TYPES};
const int N = sizeof(types) / sizeof(int);
DrawProfileTypeStep(types, N, key == VM_KEY_PROFILE_LEVEL_1_NEXT);
return true; }
case VM_KEY_PROFILE_LEVEL_2_NEXT:
case VM_KEY_PROFILE_LEVEL_2_LAST: {
const int types[] = {DRAW_PRF_ACCELERATION, DRAW_PRF_GYROSCOPE,
DRAW_PRF_IMU_DELTA_ROTATION_STATE,
DRAW_PRF_IMU_DELTA_POSITION_STATE,
DRAW_PRF_IMU_DELTA_VELOCITY_STATE,
DRAW_PRF_IMU_DELTA_BIAS_ACCELERATION_STATE,
DRAW_PRF_IMU_DELTA_BIAS_GYROSCOPE_STATE,
DRAW_PRF_CAMERA_PRIOR_ROTATION_STATE,
DRAW_PRF_CAMERA_PRIOR_POSITION_STATE,
DRAW_PRF_CAMERA_PRIOR_VELOCITY_STATE,
DRAW_PRF_CAMERA_PRIOR_BIAS_ACCELERATION_STATE,
DRAW_PRF_CAMERA_PRIOR_BIAS_GYROSCOPE_STATE,
DRAW_PRF_REPROJECTION_ERROR,
DRAW_PRF_STATE_ROTATION_ABSOLUTE,
DRAW_PRF_STATE_POSITION_ABSOLUTE,
DRAW_PRF_STATE_VELOCITY,
DRAW_PRF_STATE_BIAS_ACCELERATION,
DRAW_PRF_STATE_BIAS_GYROSCOPE,
DRAW_PRF_TYPES};
const int N = sizeof(types) / sizeof(int);
DrawProfileTypeStep(types, N, key == VM_KEY_PROFILE_LEVEL_2_NEXT);
return true; }
case VM_KEY_PROFILE_LEVEL_3_NEXT:
case VM_KEY_PROFILE_LEVEL_3_LAST: {
const int typeBkp = m_keyDrawPrfType;
while (m_keyDrawPrfType.Press(key == VM_KEY_PROFILE_LEVEL_3_NEXT, false) &&
!DrawProfileTypeValid()) {}
if (!DrawProfileTypeValid()) {
m_keyDrawPrfType = typeBkp;
}
return true; }
}
}
if (m_keyDrawViewType == DRAW_VIEW_2D) {
switch (key) {
case VW_KEY_2D_DRAW_FEATURE_TYPE: m_keyDrawFtrType.Press(); return true;
case VW_KEY_2D_DRAW_PROJECTION_TYPE: m_keyDrawPrjType.Press(); return true;
case VW_KEY_2D_DRAW_ERROR_TYPE: m_keyDrawErrType2D.Press(); return true;
}
} else if (m_keyDrawViewType == DRAW_VIEW_3D) {
switch (key) {
case VW_KEY_3D_DRAW_MOTION_TYPE:
if (activeKF) {
m_keyDrawMotTypeKF.Press();
} else {
m_keyDrawMotTypeLF.Press();
}
return true;
case VW_KEY_3D_DRAW_STRUCTURE_TYPE:
m_keyDrawStrType.Press();
return true;
case VW_KEY_3D_DRAW_DEPTH_COMPARE_TYPE:
if (m_keyDrawErrType3D == DRAW_ERR_ALL || m_keyDrawErrType3D == DRAW_ERR_MEAN) {
m_keyDrawDepTypeCMP.Press();
//while(m_keyDrawDepTypeCMP == m_keyDrawDepType)
// m_keyDrawDepTypeCMP.Press();
}
return true;
case VW_KEY_3D_DRAW_CAMERA_SIZE_INCREASE:
case VW_KEY_3D_DRAW_CAMERA_SIZE_DECREASE:
m_keyDrawCamSize.Press(key == VW_KEY_3D_DRAW_CAMERA_SIZE_INCREASE);
m_frustrum.SetSize(m_keyDrawCamSize);
m_frustrumActive.SetSize(m_keyDrawCamSize * VW_CAMERA_SIZE_ACTIVE_RATIO);
return true;
case VW_KEY_3D_DRAW_CAMERA_VELOCITY: m_keyDrawCamVelocity.Press(); break;
case VW_KEY_3D_DRAW_CAMERA_TEXTURE: m_keyDrawCamTex.Press(); break;
#ifdef CFG_GROUND_TRUTH
case VW_KEY_3D_DRAW_CAMERA_GROUND_TRUTH: m_keyDrawCamGT.Press(); break;
#endif
case VW_KEY_3D_DRAW_ERROR_TYPE:
m_keyDrawErrType3D.Press();
return true;
case VW_KEY_3D_DRAW_BACKGROUND_COLOR:
m_keyDrawBgClr.Press();
Update3DBackgroundColor();
return true;
case VW_KEY_3D_RESET_VIEW_POINT_ACTIVE:
case VW_KEY_3D_RESET_VIEW_POINT_VIRTUAL:
Reset3DViewPoint(key == VW_KEY_3D_RESET_VIEW_POINT_ACTIVE);
return true;
}
}
return false;
}
