stabilizer.hpp

#ifndef DEWOBBLE_STABILIZER_HPP
#define DEWOBBLE_STABILIZER_HPP
 
#include <gram_savitzky_golay/spatial_filters.h>
#include <opencv2/core.hpp>
#include <queue>
 
#include "frame.hpp"
#include "rotation_detector.hpp"
 
namespace dewobble
{
class StabilizedFrame : public Frame
{
  public:
    StabilizedFrame(
        Frame frame,
        cv::Mat corrective_rotation,
        FrameDebugInfo debug_info);
    cv::Mat corrective_rotation;
    FrameDebugInfo debug_info;
};
 
class Stabilizer
{
  protected:
    std::queue<StabilizedFrame> m_buffered_frames;
    bool m_input_ended = false;
 
  public:
    virtual ~Stabilizer() = default;
    virtual void push_frame(Frame frame) = 0;
    virtual void end_input();
    virtual bool frame_ready();
    virtual StabilizedFrame pop_stabilized_frame();
};
 
class StabilizerSavitzkyGolay : public Stabilizer
{
    const unsigned int m_radius;
    std::queue<FrameWithOrientation> m_buffered_frames;
    RotationDetector m_rotation_detector;
    gram_sg::RotationFilter m_rotation_filter;
    void try_pull_frames_from_detector();
 
  public:
    StabilizerSavitzkyGolay(
        Camera camera,
        unsigned int radius,
        int interpolation_horizon = 0);
    void push_frame(Frame frame);
    void end_input();
    bool frame_ready();
    StabilizedFrame pop_stabilized_frame();
};
 
class StabilizerNone : public Stabilizer
{
  public:
    void push_frame(Frame frame);
};
 
class StabilizerFixed : public Stabilizer
{
    const Camera m_camera;
    RotationDetector m_rotation_detector;
    void flush_frames();
 
  public:
    StabilizerFixed(Camera camera, int interpolation_horizon = 0);
    void push_frame(Frame frame);
    void end_input();
};
} // namespace dewobble
 
#endif // DEWOBBLE_STABILIZER_HPP