SysApriltagParamsMessage.hh

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#ifndef LibMultiSense_SysApriltagParamsMessage
#define LibMultiSense_SysApriltagParamsMessage
 
#include <algorithm>
#include <string>
#include "Protocol.hh"
#include "../utility/BufferStream.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
 
class SysApriltagParams {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_SYS_APRILTAG_PARAM;
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    std::string family;
    uint8_t max_hamming;
    double quad_detection_blur_sigma;
    double quad_detection_decimate;
    uint64_t min_border_width;
    bool refine_quad_edges;
    double decode_sharpening;
 
    //
    // Constructors
    //
    SysApriltagParams(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    SysApriltagParams()
    {
        family = "tagStandard52h13";
        max_hamming = 0;
        quad_detection_blur_sigma = 0.75;
        quad_detection_decimate = 1.0;
        min_border_width = 5;
        refine_quad_edges = false;
        decode_sharpening = 0.25;
    };
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
 
        message & family;
        message & max_hamming;
        message & quad_detection_blur_sigma;
        message & quad_detection_decimate;
        message & min_border_width;
        message & refine_quad_edges;
        message & decode_sharpening;
    }
 
};
 
}}}} // namespaces
 
#endif