FeatureDetectorConfig.hh

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#ifndef __FEATURE_DETECTOR_CONFIG_H__
#define __FEATURE_DETECTOR_CONFIG_H__
 
#include <MultiSense/details/utility/Portability.hh>
#include <MultiSense/MultiSenseTypes.hh>
 
using namespace crl::multisense::details;
 
#pragma pack(push, 1)
 
struct FeatureDetectorConfigParams {
 
    static CRL_CONSTEXPR wire::VersionType VERSION    = 2;
 
    static CRL_CONSTEXPR uint32_t OPT_USE_OBSERVER = 2;
    static CRL_CONSTEXPR uint32_t OPT_HYBRID_FULLRES = 4;
    static CRL_CONSTEXPR uint32_t OPT_HYBRID_LEFT_OFF = 8;
    static CRL_CONSTEXPR uint32_t OPT_HYBRID_RIGHT_OFF = 16;
    static CRL_CONSTEXPR uint32_t OPT_OBSERVER_INCREMENTAL = 32;
    static CRL_CONSTEXPR uint32_t OPT_HYBRID_MODE = 64;
    static CRL_CONSTEXPR uint32_t OPT_AUTO_AFFINE_CAL = 128;
 
    //
    // The message version
    wire::VersionType version;
 
    //
    // The maximum number of features detected per image
    uint32_t numberOfFeatures;
 
    //
    // Enable/Disable feature grouping
    bool grouping;
 
    //
    // Enable motion detection
    // Currently this functions as enable/disable but could be used to specify
    // which octave motion detection is performed on.
    // Current Octave: 3
    uint32_t motion;
 
    // Feature detector's internal options
    uint32_t options;
 
    FeatureDetectorConfigParams ( ) :
      version(VERSION),
      numberOfFeatures(1500),
      grouping(true),
      motion(1),
      options(0)
    {    }
};
 
#pragma pack(pop)
 
#endif /* end of include guard: __FEATURE_DETECTOR_CONFIG_H__ */