Method GenNewCamPosition

src/CVStabilization.cpp:239–265

Generate new transformations parameters for each frame to follow the smoothed trajectory

// Generate new transformations parameters for each frame to follow the smoothed trajectory
std::map<size_t,TransformParam> CVStabilization::GenNewCamPosition(std::map <size_t,CamTrajectory> &smoothed_trajectory){
    std::map <size_t,TransformParam> new_prev_to_cur_transform;

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

    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;

        // target - current
        double diff_x = smoothed_trajectory[i + start].x - x;
        double diff_y = smoothed_trajectory[i + start].y - y;
        double diff_a = smoothed_trajectory[i + start].a - a;

        double dx = prev_to_cur_transform[i].dx + diff_x;
        double dy = prev_to_cur_transform[i].dy + diff_y;
        double da = prev_to_cur_transform[i].da + diff_a;

        // Add transformation data to map
        new_prev_to_cur_transform[i + start] = TransformParam(dx, dy, da);
    }
    return new_prev_to_cur_transform;
}

// Save stabilization data to protobuf file
bool CVStabilization::SaveStabilizedData(){