FeatureDetectorMetaMessage.hh

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#ifndef LibMultiSense_FeatureDetectorMetadataMessage
#define LibMultiSense_FeatureDetectorMetadataMessage
 
#include <typeinfo>
 
#include "utility/Portability.hh"
#include <MultiSense/MultiSenseChannel.hh>
 
using namespace crl::multisense::details;
 
class WIRE_HEADER_ATTRIBS_ FeatureDetectorMetaHeader {
  public:
      static CRL_CONSTEXPR wire::VersionType VERSION    = 2;
      wire::VersionType      version;
      uint32_t               length;
      uint32_t               source;
      int64_t                frameId;
      uint32_t               timeSeconds;
      uint32_t               timeNanoSeconds;
      int64_t                ptpNanoSeconds;
      uint16_t               octaveWidth;
      uint16_t               octaveHeight;
      uint16_t               numOctaves;
      uint16_t               scaleFactor;
      uint16_t               motionStatus;
      uint16_t               averageXMotion;
      uint16_t               averageYMotion;
      uint16_t               numFeatures;
      uint16_t               numDescriptors;
 
      //
      // Version 2 additions
      uint16_t               observerStatus;
      uint16_t               observerNum;
      uint16_t               observerIndex;
      int16_t                observerDy;
      int16_t                observerTheta;
      uint16_t               affineCalCount;
 
    FeatureDetectorMetaHeader() :
        version(VERSION),
        length(0),
        source(0),
        frameId(0),
        timeSeconds(0),
        timeNanoSeconds(0),
        ptpNanoSeconds(0),
        octaveWidth(0),
        octaveHeight(0),
        numOctaves(0),
        scaleFactor(0),
        motionStatus(0),
        averageXMotion(0),
        averageYMotion(0),
        numFeatures(0),
        numDescriptors(0),
        observerStatus(0),
        observerNum(0),
        observerIndex(0),
        observerDy(0),
        observerTheta(0),
        affineCalCount(0)
     {};
 
};
 
#ifndef SENSORPOD_FIRMWARE
 
class FeatureDetectorMeta : public FeatureDetectorMetaHeader {
public:
 
    //
    // Constructors
 
    FeatureDetectorMeta(utility::BufferStreamReader &r, wire::VersionType v) {serialize(r,v);};
    FeatureDetectorMeta() {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const wire::VersionType _version)
    {
        (void) _version;
        message & version;
        message & length;
        message & source;
        message & frameId;
        message & timeSeconds;
        message & timeNanoSeconds;
        message & ptpNanoSeconds;
        message & octaveWidth;
        message & octaveHeight;
        message & numOctaves;
        message & scaleFactor;
        message & motionStatus;
        message & averageXMotion;
        message & averageYMotion;
        message & numFeatures;
        message & numDescriptors;
 
        if (version >= 2)
        {
          message & observerStatus;
          message & observerNum;
          message & observerIndex;
          message & observerDy;
          message & observerTheta;
          message & affineCalCount;
        }
    }
};
 
#endif // !SENSORPOD_FIRMWARE
 
#endif