RidgeRun Video Stabilization Library/API Reference/Adding Algorithms: Difference between revisions

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 == Integrator ==
+The integrator algorithms work with orientation data captured by the IMU sensor, defined as Quaternions. These algorithms estimate an object's orientation using gyroscope and accelerometer measurements for improved accuracy. An initial orientation is necessary to begin the estimation process.To add a new integrator algorithm, follow these steps:
+* Define the Integrator Algorithm class, inheriting from the IIntegrator class.
+* Add the new Integrator Algorithm to the Integrator Interface.
+=== Define the Integrator Algorithm ===
+The RidgeRun Integrator Interface, known as IIntegrator, is an extensible class design to support various types of integrators. To add a new integrator to it, the user must implement a new integrator class that derives from the IIntegrator class. This class must implement the following methods:
+* Apply: applies the integrator algorithm to the entry orientation data.
+* Reset: sets the initial orientation and its initial time to a desired value.
+==== Defining the Apply method ====
+This method receives two parameters:
+* softgyro: This is the input data containing a vector of orientation values (Quaternions) along with their corresponding timestamps. It is used by the interpolation algorithm.
+* interpolated: This contains a vector of interpolated orientation values with their corresponding interpolation timestamps.
+The user must take into account that the method uses the IInterpolator start time member to perform the interpolation and that the time must be set on microseconds.
+<syntaxhighlight lang=c++>
+RuntimeError ExampleInterpolator::Apply(
+    std::vector<std::pair<Quaternion<double>, uint64_t>>&interpolated,
+    std::vector<std::pair<Quaternion<double>, uint64_t>>& softgyro) {
+  RuntimeError ret{};
+  /* Interpolation algorithm logic */
+  return ret;
+</syntaxhighlight>
+==== Defining the Reset method ====
+This method receives an start time value as parameter and sets the IInterpolator start time member to the inserted value.
+<syntaxhighlight lang=c++>
+RuntimeError ExampleInterpolator::Reset(const uint64_t start_time) {
+  RuntimeError ret{};
+  /* Reset start time logic */
+  return ret;
+}
+</syntaxhighlight>
+=== Add the Interpolator Algorithm to IInterpolator ===
+In order to add the new interpolator algorithm class to the interpolator interface follow these steps:
+* Add the constructor method to the interpolator algorithm header file.
+* Extend the Interpolator Algorithms enumeration with the new interpolation algorithm.
+* Add the interpolator algorithm to the IInterpolator Build method.
+==== Add the constructor method ====
+The constructor method receives the interpolator settings parameter. These settings include the interpolation interval, which is a constant time (in microseconds) that updates the initial time after each interpolation.
+<syntaxhighlight lang=c++>
+class ExampleInterpolator : public IInterpolator {
+ public:
+  explicit ExampleInterpolator(
+      const std::shared_ptr<InterpolatorSettings> settings);
+  /* Rest of class */
+}
+</syntaxhighlight>
+==== Extend the Interpolator Algorithms enumeration ====
+To enable the IInterpolator interface to create an instance of the new sensor, it must be added to the InterpolatorAlgorithms enumeration.
+<syntaxhighlight lang=c++>
+enum class InterpolatorAlgorithms {
+  kSlerp = 0,
+  /* Add new interpolator algorithm */
+  kExampleInterpolator
+};
+</syntaxhighlight>
+==== Add Interpolation Algorithm to IInterpolator Build method ====
+Finally, the new interpolator case must be added to the IInterpolator build method to allow the interface to instantiate the interpolator algorithm.
+<syntaxhighlight lang=c++>
+std::shared_ptr<IInterpolator> IInterpolator::Build(
+    const InterpolatorAlgorithms impl,
+    const std::shared_ptr<InterpolatorSettings> settings) {
+  switch (impl) {
+    case InterpolatorAlgorithms::kSlerp:
+      return std::make_shared<SlerpInterpolator>(settings);
+    /* Add new interpolation algorithm case */
+    case InterpolatorAlgorithms::kExampleInterpolator:
+      return std::make_shared<ExampleInterpolator>(settings);
+    default:
+      return nullptr;
+  }
+}
+</syntaxhighlight>
 == Interpolator ==