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Smooth interpolation of a predefined camera path

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Hi,

 

I am curious about how to do a smooth interpolation of a predefined camera path where the variables are orientation and position of the camera (and maybe other ones like zoom, shaking, ...). What techniques are usually used for this to get really good results? B-Splines, Quaternions, ...?

 

Are there any good and detailed articles about this?

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And what if I also want to do a roll such that the up-vector is not always up? Is it not also possible to use an orthonormal basis for each key point and interpolate betweem them?

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