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

RidgeRun Video Stabilization Library/API Reference/Adding Algorithms (view source)

Revision as of 01:16, 2 July 2024

51 bytes added , 2 July

→‎Integrator

Rgonzalez

102

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 * 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.
+* softengyro: This contains the result of integrating the initial orientation data, it contains a vector of orientation values represented as a Quaternion with their corresponding timestamps.
-* interpolated: This contains a vector of interpolated orientation values with their corresponding interpolation timestamps.
+* rawgyro: This parameter contains the data from sensors, could have data from gyroscope, accelerometer and magnetometer.
-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(
+RuntimeError ExampleIntegrator::Apply(
-     std::vector<std::pair<Quaternion<double>, uint64_t>>&interpolated,
+     std::vector<std::pair<Quaternion<double>, uint64_t>>& softengyro,
-     std::vector<std::pair<Quaternion<double>, uint64_t>>& softgyro) {
+     const std::vector<SensorPayload> rawgyro) {
    RuntimeError ret{};
-   /* Interpolation algorithm logic */
+   /* Integrator algorithm logic */
    return ret;
@@ Line 38: / Line 38: @@
 ==== Defining the Reset method ====
-This method receives an start time value as parameter and sets the IInterpolator start time member to the inserted value.
+This method receives an orientation value as parameter and a time value (in microseconds) as parameter and sets the IIntegrator initial orientation member and the initial time member.
 <syntaxhighlight lang=c++>
-RuntimeError ExampleInterpolator::Reset(const uint64_t start_time) {
+RuntimeError SimpleComplementaryIntegrator::Reset(
+    const Quaternion<double> initial_orient, const uint64_t initial_time) {
    RuntimeError ret{};
-   /* Reset start time logic */
+   /* Reset initial orientation and initial time logic */
+  this->initial_orient_ = /* logic result */;
+  this->initial_time_ = /* logic result */;
    return ret;
@@ Line 103: / Line 107: @@
 }
 </syntaxhighlight>
 == Interpolator ==