1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
|
/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
#ifndef _XNV_3DBOX_H_
#define _XNV_3DBOX_H_
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnV3DGeometry.h"
//---------------------------------------------------------------------------
// Types
//---------------------------------------------------------------------------
/**
* This is a specific XnVVirtualObject class, which represents a Real World Axis Aligned 3D box.
*/
class XN_EE_FW_API XnV3DBox : public XnV3DGeometry
{
public:
XnV3DBox();
XnV3DBox(const XnVPoint& ptTopLeftNear, const XnVPoint& ptBottomRightFar);
/**
* The Real World coordinated of the box.
*
* @param [in] ptTopLeftNear Minimum coordinates
* @param [in] ptBottomRightFar Maximum coordinates
*/
void SetPoints(const XnVPoint& ptTopLeftNear, const XnVPoint& ptBottomRightFar);
/**
* Intersect the box with a depth map, resulting in the intersection depth map.
*
* @param [in] dmOther The depth map to check against
* @param [out] dmOutput The result of the intersection
*/
XnUInt32 Intersect(const XnVDepthMap& dmOther, XnVDepthMap& dmOutput);
/**
* Check if there is an intersection between the box and the depth map,
* With a minimum size.
*
* @param [in] dmOther The depth map to check against
* @param [in] nThreshold The minimum number of points in order to conclude an intersection
*
* @return true if the intersection had at least the minimum number of point.
*/
XnBool IsIntersect(const XnVDepthMap& dmOther, XnUInt32 nThreshold);
XnBool IsIntersect(const XnV3DVector& pt) const;
/**
* Get the intersection size
*
* @param [in] dmOther The depth map to check against.
*
* @return Number of points in the intersection.
*/
XnUInt32 IntersectionSize(const XnVDepthMap& dmOther);
inline XnBool IsValid()
{
return m_bValid;
}
const XnVPoint& GetBoundingMins() const {return m_RWBoundingBox.GetMins();}
const XnVPoint& GetBoundingMaxs() const {return m_RWBoundingBox.GetMaxs();}
protected:
XnVBoundingBox m_RWBoundingBox; // RW Box
protected:
XnBool m_bValid;
protected:
XnUInt32 Intersection(const XnVDepthMap& dmOther, XnUInt32 nThreshold, XnVDepthMap* pdmOutput);
};
#endif //_XNV_3DBOX_H_
|
