StereoCameraModelFilter.hpp

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#pragma once

#include "next_best_view/camera_model_filter/CameraModelFilter.hpp"
#include "next_best_view/camera_model_filter/impl/SingleCameraModelFilter.hpp"

namespace next_best_view {
        class StereoCameraModelFilter : public CameraModelFilter {
        public:
                enum FilteringType {
                        LEFT,
                        RIGHT,
                        BOTH,
                        INTERSECTION
                };
        private:
                FilteringType mFilteringType;

                SingleCameraModelFilter mLeftCameraModelFilter;

                SingleCameraModelFilter mRightCameraModelFilter;
        public:
                StereoCameraModelFilter(const SimpleVector3 &leftCameraPivotPointOffset = SimpleVector3(), const SimpleVector3 &rightCameraPivotPointOffset = SimpleVector3());
        protected:
                void copySettings();
        public:
        void doFiltering(IndicesPtr &indicesPtr);

                void setFilteringType(FilteringType type);

                FilteringType getFilteringType();

                void setLeftCameraPivotPointOffset(const SimpleVector3 &cameraPivotPointOffset);

                SimpleVector3 getLeftCameraPivotPointOffset();

                void setRightCameraPivotPointOffset(const SimpleVector3 &cameraPivotPointOffset);

                SimpleVector3 getRightCameraPivotPointOffset();

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

        typedef boost::shared_ptr<StereoCameraModelFilter> StereoCameraModelFilterPtr;
}