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RidgeRun Video Stabilization Library/API Reference/Adding Algorithms: Difference between revisions
RidgeRun Video Stabilization Library/API Reference/Adding Algorithms (view source)
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* 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. | * 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. | * 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. | 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++> | <syntaxhighlight lang=c++> | ||
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} | } | ||
</syntaxhighlight> | </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> | |||
<noinclude> | <noinclude> | ||
{{RidgeRun Video Stabilization Library/Foot|API Reference/Adding New Sensors|API Reference/Adding Stabilization Algorithm}} | {{RidgeRun Video Stabilization Library/Foot|API Reference/Adding New Sensors|API Reference/Adding Stabilization Algorithm}} | ||
</noinclude> | </noinclude> | ||