CameraModelFilter.hpp

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#ifndef CAMERAMODELFILTER_HPP_
#define CAMERAMODELFILTER_HPP_

#include "next_best_view/common/GeneralFilter.hpp"
#include <visualization_msgs/MarkerArray.h>

namespace next_best_view {
    namespace viz = visualization_msgs;

        class CameraModelFilter : public GeneralFilter {
        private:
                bool mParametersChanged;

                double mFOVX;

                double mFOVY;

                double mNcp;

                double mFcp;

                SimpleVector3 mPivotPointPosition;

                SimpleQuaternion mPivotPointOrientation;
        // TODO different recognizerCosts for different objects
                float recognizerCosts;
        public:
                EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        public:
                CameraModelFilter();

                virtual ~CameraModelFilter() = 0;

                virtual viz::MarkerArrayPtr getVisualizationMarkerArray(uint32_t &sequence, double lifetime = 30.0) = 0;

        virtual void setRecognizerCosts(float recognizerCosts, std::string objectType);
                
        virtual float getRecognizerCosts(std::string objectType);

                inline bool haveParametersChanged() {
                        return mParametersChanged;
                }

                inline void setParametersChanged(bool value) {
                        mParametersChanged = value;
                }

                void setPivotPointPose(const SimpleVector3 &position, const SimpleQuaternion &orientation);

                void setPivotPointPosition(const SimpleVector3 &position);

                SimpleVector3 getPivotPointPosition();

                void setOrientation(const SimpleQuaternion &orientation);

                SimpleQuaternion getOrientation();
        protected:
                static SimpleMatrix4 getCameraPoseMatrix(const SimpleVector3 &position, const SimpleQuaternion &orientation);
        public:
                void setHorizontalFOV(double fovDegrees);

                double getHorizontalFOV();

                void setVerticalFOV(double fovDegrees);

                double getVerticalFOV();

                void setNearClippingPlane(double ncp);

                double getNearClippingPlane();

                void setFarClippingPlane(double fcp);

                double getFarClippingPlane();
        };

        typedef boost::shared_ptr<CameraModelFilter> CameraModelFilterPtr;
}


#endif /* CAMERAMODELFILTER_HPP_ */