Method ComputeFramesTrajectory

src/CVStabilization.cpp:187–206

}

std::vector<CamTrajectory> CVStabilization::ComputeFramesTrajectory(){

    // Accumulated frame to frame transform
    double a = 0;
    double x = 0;
    double y = 0;

    vector <CamTrajectory> trajectory; // trajectory at all frames

    // Compute global camera trajectory. First frame is the origin
    for(size_t i=0; i < prev_to_cur_transform.size(); i++) {
        x += prev_to_cur_transform[i].dx;
        y += prev_to_cur_transform[i].dy;
        a += prev_to_cur_transform[i].da;

        // Save trajectory data to vector
        trajectory.push_back(CamTrajectory(x,y,a));
    }
    return trajectory;
}

std::map<size_t,CamTrajectory> CVStabilization::SmoothTrajectory(std::vector <CamTrajectory> &trajectory){