SingleCameraModelFilter.hpp

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#pragma once

#include "next_best_view/camera_model_filter/CameraModelFilter.hpp"
#include <pcl/filters/impl/frustum_culling.hpp>

namespace next_best_view {
        class SingleCameraModelFilter : public CameraModelFilter {
        private:
                SimpleVector3 mPivotPointOffset;

                FrustumCullingPtr mFrustumCullingPtr;
        public:
                EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        public:
                SingleCameraModelFilter(const SimpleVector3 pivotPointOffset = SimpleVector3());

                virtual ~SingleCameraModelFilter();

                void doFiltering(IndicesPtr &indicesPtr);

                void setPivotPointOffset(const SimpleVector3 &pivotPointOffset);

                SimpleVector3 getPivotPointOffset();

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

        typedef boost::shared_ptr<SingleCameraModelFilter> SingleCameraModelFilterPtr;
}