Method _LoadStabilizedData

src/CVStabilization.cpp:374–417

Load protobuf data file

// Load protobuf data file
bool CVStabilization::_LoadStabilizedData(){
    using std::ios;
    // Create stabilization message
    pb_stabilize::Stabilization stabilizationMessage;
    // Read the existing tracker message.
    std::fstream input(protobuf_data_path, ios::in | ios::binary);
    if (!stabilizationMessage.ParseFromIstream(&input)) {
        std::cerr << "Failed to parse protobuf message." << std::endl;
        return false;
    }

    // Make sure the data maps are empty
    transformationData.clear();
    trajectoryData.clear();

    // Iterate over all frames of the saved message and assign to the data maps
    for (size_t i = 0; i < stabilizationMessage.frame_size(); i++) {
        const pb_stabilize::Frame& pbFrameData = stabilizationMessage.frame(i);

        // Load frame number
        size_t id = pbFrameData.id();

        // Load camera trajectory data
        float x = pbFrameData.x();
        float y = pbFrameData.y();
        float a = pbFrameData.a();

        // Assign data to trajectory map
        trajectoryData[id] = CamTrajectory(x,y,a);

        // Load transformation data
        float dx = pbFrameData.dx();
        float dy = pbFrameData.dy();
        float da = pbFrameData.da();

        // Assing data to transformation map
        transformationData[id] = TransformParam(dx,dy,da);
    }

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

    return true;
}