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/****************************************************************************
* *
* 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_VIRTUAL_OBJECT_H_
#define _XNV_VIRTUAL_OBJECT_H_
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnVObject.h"
#include "XnVDepthMap.h"
#include "XnVBoundingBox.h"
//---------------------------------------------------------------------------
// Types
//---------------------------------------------------------------------------
/**
* XnVVirtualObject is a base class for all user-created objects that are inserted
* into the scene.
* Each of these objects must be able to intersect with a XnVDepthMap.
* The intersection is in Real World coordinations.
* Currently implemented virtual objects include XnV3DBox and XnVSphere.
*/
class XN_EE_FW_API XnVVirtualObject : public XnVObject
{
public:
XnVVirtualObject();
virtual ~XnVVirtualObject() {}
/**
* Intersect the virtual object with the depth map.
* Intersection is done in Real World coordinations.
* Adds the pixels from the input depth map that are inside or on the virtual object
* to the output depth map.
* No pixels are deleted from the output depth map if they already exist.
*
* @param [in] dmOther The input depth map on which to run.
* @param [in,out] dmOutput The output depth map, with only the pixels inside or on the virtual object.
*/
virtual XnUInt32 Intersect(const XnVDepthMap& dmOther, XnVDepthMap& dmOutput) = 0;
/**
* Is there at least nThreshold pixels in the intersection of the depth map and
* this virtual object?
*
* @param [in] dmOther The input depth map.
* @param [in] nThreshold The minimal number of pixels to consider intersection.
*/
virtual XnBool IsIntersect(const XnVDepthMap& dmOther, XnUInt32 nThreshold) = 0;
/**
* What is the size of the intersection between the input depth map and this virtual object?
*
* @param [in] dmOther The input depth map.
*/
virtual XnUInt32 IntersectionSize(const XnVDepthMap& dmOther) = 0;
protected:
/**
* Sets a Projective bounding box.
* This Projective bounding box will assist in intersections.
*
* @param [in] ptMins Minimum point
* @param [in] ptMaxs Maximum point
* @param [in] drDepth Depth representation, mainly for the Real World Translator inside.
* @param [in] bProjective If the input isn't Projective (false, which means Real World), the points should be translated.
*/
XnStatus SetBoundingBox(const XnVPoint& ptMins, const XnVPoint& ptMaxs, const XnVDepthRepresentation& drDepth, XnBool bProjective);
XnUInt16 m_nXResWhenBounding, m_nYResWhenBounding;
XnVBoundingBox m_BoundingBox;
};
#endif //_XNV_VIRTUAL_OBJECT_H_
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