StereoCameraModelFilterFactory.hpp

Go to the documentation of this file.

#pragma once

#include "next_best_view/camera_model_filter/impl/StereoCameraModelFilter.hpp"
#include "next_best_view/camera_model_filter/CameraModelFilterAbstractFactory.hpp"

namespace next_best_view {

    class StereoCameraModelFilterFactory : public CameraModelFilterAbstractFactory {
    private:
        SimpleVector3 mLeftCameraPivotPointOffset;
        SimpleVector3 mRightCameraPivotPointOffset;
        double mFovx, mFovy;
        double mFcp, mNcp;
        double mSpeedFactorRecognizer;

    public:
        StereoCameraModelFilterFactory(SimpleVector3 leftCameraPivotPointOffset,
                                       SimpleVector3 rightCameraPivotPointOffset,
                                       double fovx, double fovy,
                                       double fcp, double ncp, double speedFactorRecognizer)
            : mLeftCameraPivotPointOffset(leftCameraPivotPointOffset),
              mRightCameraPivotPointOffset(rightCameraPivotPointOffset),
              mFovx(fovx), mFovy(fovy),
              mFcp(fcp), mNcp(ncp),
              mSpeedFactorRecognizer(speedFactorRecognizer)
        { }

        CameraModelFilterPtr createCameraModelFilter() {
            CameraModelFilterPtr cameraModelFilter = CameraModelFilterPtr(new StereoCameraModelFilter(mLeftCameraPivotPointOffset, mRightCameraPivotPointOffset));
            cameraModelFilter->setHorizontalFOV(mFovx);
            cameraModelFilter->setVerticalFOV(mFovy);
            cameraModelFilter->setNearClippingPlane(mNcp);
            cameraModelFilter->setFarClippingPlane(mFcp);
            cameraModelFilter->setRecognizerCosts((float) mSpeedFactorRecognizer, "");
            return cameraModelFilter;
        }
    };
    typedef boost::shared_ptr<StereoCameraModelFilterFactory> StereoCameraModelFilterFactoryPtr;
}