Method SaveStabilizedData

src/CVStabilization.cpp:268–295

Save stabilization data to protobuf file

// Save stabilization data to protobuf file
bool CVStabilization::SaveStabilizedData(){
    using std::ios;

    // Create stabilization message
    pb_stabilize::Stabilization stabilizationMessage;

    std::map<size_t,CamTrajectory>::iterator trajData = trajectoryData.begin();
    std::map<size_t,TransformParam>::iterator transData = transformationData.begin();

    // Iterate over all frames data and save in protobuf message
    for(; trajData != trajectoryData.end(); ++trajData, ++transData){
        AddFrameDataToProto(stabilizationMessage.add_frame(), trajData->second, transData->second, trajData->first);
    }
    // Add timestamp
    *stabilizationMessage.mutable_last_updated() = TimeUtil::SecondsToTimestamp(time(NULL));

    // Write the new message to disk.
    std::fstream output(protobuf_data_path, ios::out | ios::trunc | ios::binary);
    if (!stabilizationMessage.SerializeToOstream(&output)) {
        std::cerr << "Failed to write protobuf message." << std::endl;
        return false;
    }

    // Delete all global objects allocated by libprotobuf.
    google::protobuf::ShutdownProtobufLibrary();

    return true;
}

// Add frame stabilization data into protobuf message
void CVStabilization::AddFrameDataToProto(pb_stabilize::Frame* pbFrameData, CamTrajectory& trajData, TransformParam& transData, size_t frame_number){