RawTrackedFeatures.hpp

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#pragma once
#include <cstdint>
#include <vector>
 
#include "RawFeatureTrackerConfig.hpp"
#include "depthai-shared/common/Point2f.hpp"
#include "depthai-shared/datatype/DatatypeEnum.hpp"
#include "depthai-shared/datatype/RawBuffer.hpp"
#include "depthai-shared/utility/Serialization.hpp"
 
namespace dai {
 
struct TrackedFeature {
    Point2f position;
 
    uint32_t id = 0;
 
    uint32_t age = 0;
 
    float harrisScore = 0.f;
 
    float trackingError = 0.f;
};
DEPTHAI_SERIALIZE_EXT(TrackedFeature, position, id, age, harrisScore, trackingError);
 
struct RawTrackedFeatures : public RawBuffer {
    std::vector<TrackedFeature> trackedFeatures;
 
    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
        metadata = utility::serialize(*this);
        datatype = DatatypeEnum::TrackedFeatures;
    };
 
    DatatypeEnum getType() const override {
        return DatatypeEnum::TrackedFeatures;
    }
 
    DEPTHAI_SERIALIZE(RawTrackedFeatures, trackedFeatures, RawBuffer::sequenceNum, RawBuffer::ts, RawBuffer::tsDevice);
};
 
}  // namespace dai