FeatureTrackerConfig.hpp

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#pragma once
 
#include <unordered_map>
#include <vector>
 
#include "depthai-shared/datatype/RawFeatureTrackerConfig.hpp"
#include "depthai/pipeline/datatype/Buffer.hpp"
 
namespace dai {
 
class FeatureTrackerConfig : public Buffer {
    std::shared_ptr<RawBuffer> serialize() const override;
    RawFeatureTrackerConfig& cfg;
 
   public:
    // Raw* mirror
    using CornerDetector = RawFeatureTrackerConfig::CornerDetector;
    using MotionEstimator = RawFeatureTrackerConfig::MotionEstimator;
    using FeatureMaintainer = RawFeatureTrackerConfig::FeatureMaintainer;
 
    FeatureTrackerConfig();
    explicit FeatureTrackerConfig(std::shared_ptr<RawFeatureTrackerConfig> ptr);
    virtual ~FeatureTrackerConfig() = default;
 
    FeatureTrackerConfig& setCornerDetector(dai::FeatureTrackerConfig::CornerDetector::Type cornerDetector);
 
    FeatureTrackerConfig& setCornerDetector(dai::FeatureTrackerConfig::CornerDetector config);
 
    FeatureTrackerConfig& setOpticalFlow();
 
    FeatureTrackerConfig& setOpticalFlow(dai::FeatureTrackerConfig::MotionEstimator::OpticalFlow config);
 
    FeatureTrackerConfig& setHwMotionEstimation();
 
    FeatureTrackerConfig& setNumTargetFeatures(std::int32_t numTargetFeatures);
 
    FeatureTrackerConfig& setMotionEstimator(bool enable);
 
    FeatureTrackerConfig& setMotionEstimator(dai::FeatureTrackerConfig::MotionEstimator config);
 
    FeatureTrackerConfig& setFeatureMaintainer(bool enable);
 
    FeatureTrackerConfig& setFeatureMaintainer(dai::FeatureTrackerConfig::FeatureMaintainer config);
 
    FeatureTrackerConfig& set(dai::RawFeatureTrackerConfig config);
 
    dai::RawFeatureTrackerConfig get() const;
};
 
}  // namespace dai