FeatureDetectorMessage.hh

Go to the documentation of this file.

 
#ifndef LibMultiSense_FeatureDetectorMessage
#define LibMultiSense_FeatureDetectorMessage
 
#include <cmath>
 
#include <utility/Portability.hh>
#include <utility/BufferStream.hh>
#include <wire/Protocol.hh>
 
using namespace crl::multisense::details;
 
#pragma pack(push, 1)
 
class Feature {
public:
    uint16_t x;
    uint16_t y;
    uint8_t angle;
    uint8_t resp;
    uint8_t octave;
    uint8_t descriptor;
};
 
class Descriptor {
public:
    uint32_t d[8];
};
 
#pragma pack(pop)
 
class WIRE_HEADER_ATTRIBS_ FeatureDetectorHeader {
public:
    static CRL_CONSTEXPR   wire::VersionType VERSION    = 1;
    wire::VersionType      version;
    uint64_t               source;
    int64_t                frameId;
    uint16_t               numFeatures;
    uint16_t               numDescriptors;
 
    FeatureDetectorHeader() :
        version(VERSION),
        source(0),
        frameId(0),
        numFeatures(0),
        numDescriptors(0)
    {};
 
};
 
#ifndef SENSORPOD_FIRMWARE
 
class FeatureDetector : public FeatureDetectorHeader {
public:
 
    void * dataP;
 
    //
    // Constructors
 
    FeatureDetector(utility::BufferStreamReader&r, wire::VersionType v) {serialize(r,v);};
    FeatureDetector() {};
 
 
    template<class Archive>
        void serialize(Archive&          message,
                       const wire::VersionType _version)
    {
        (void) _version;
 
        message & version;
        message & source;
        message & frameId;
        message & numFeatures;
        message & numDescriptors;
 
        const uint32_t featureDataSize = static_cast<uint32_t> (std::ceil( numFeatures*sizeof(Feature) + numDescriptors*sizeof(Descriptor)));
 
        dataP = message.peek();
        message.seek(message.tell() + featureDataSize);
    }
 
};
 
#endif // !SENSORPOD_FIRMWARE
 
 
#endif