reparameterize_by_arc_length() [1/2]

Eigen::MatrixXd MayaFlux::Kinesis::reparameterize_by_arc_length	(	const Eigen::MatrixXd &	points,
		Eigen::Index	num_samples
	)

Reparameterize curve by arc length.

Parameters

points	Original points (columns)
num_samples	Number of output samples

Returns

Arc-length parameterized points

Definition at line 420 of file MotionCurves.cpp.

{
    Eigen::VectorXd arc_lengths = compute_arc_length_table(points);
    double total_length = arc_lengths(arc_lengths.size() - 1);
 
    if (total_length == 0.0) {
        return points;
    }
 
    Eigen::MatrixXd result(points.rows(), num_samples);
 
    for (Eigen::Index i = 0; i < num_samples; ++i) {
        double target = (static_cast<double>(i) / static_cast<double>(num_samples - 1)) * total_length;
 
        Eigen::Index idx = 0;
        for (Eigen::Index j = 1; j < arc_lengths.size(); ++j) {
            if (arc_lengths(j) >= target) {
                idx = j - 1;
                break;
            }
        }
 
        if (idx + 1 < points.cols()) {
            double segment_start = arc_lengths(idx);
            double segment_end = arc_lengths(idx + 1);
            double t = (target - segment_start) / (segment_end - segment_start);
 
            result.col(i) = (1.0 - t) * points.col(idx) + t * points.col(idx + 1);
        } else {
            result.col(i) = points.col(points.cols() - 1);
        }
    }
 
    return result;
}

References compute_arc_length_table().

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