RawAprilTagConfig.hpp

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#pragma once
 
#include <cstdint>
#include <vector>
 
#include "depthai-shared/datatype/DatatypeEnum.hpp"
#include "depthai-shared/datatype/RawBuffer.hpp"
#include "depthai-shared/utility/Serialization.hpp"
 
namespace dai {
 
struct RawAprilTagConfig : public RawBuffer {
    enum class Family : std::int32_t { TAG_36H11 = 0, TAG_36H10, TAG_25H9, TAG_16H5, TAG_CIR21H7, TAG_STAND41H12 };
 
    Family family = Family::TAG_36H11;
 
    std::int32_t quadDecimate = 4;
 
    float quadSigma = 0.0f;
 
    bool refineEdges = true;
 
    float decodeSharpening = 0.25f;
 
    std::int32_t maxHammingDistance = 1;
 
    struct QuadThresholds {
        std::int32_t minClusterPixels = 5;
 
        std::int32_t maxNmaxima = 10;
 
        float criticalDegree = 10.f;
 
        float maxLineFitMse = 10.f;
 
        std::int32_t minWhiteBlackDiff = 5;
 
        bool deglitch = false;
 
        DEPTHAI_SERIALIZE(QuadThresholds, minClusterPixels, maxNmaxima, criticalDegree, maxLineFitMse, minWhiteBlackDiff, deglitch);
    };
 
    QuadThresholds quadThresholds;
 
    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
        metadata = utility::serialize(*this);
        datatype = DatatypeEnum::AprilTagConfig;
    };
 
    DatatypeEnum getType() const override {
        return DatatypeEnum::AprilTagConfig;
    }
 
    DEPTHAI_SERIALIZE(RawAprilTagConfig, family, quadDecimate, quadSigma, refineEdges, decodeSharpening, maxHammingDistance, quadThresholds);
};
 
}  // namespace dai