text: /****************************************************************************
  *                                                                           *
  *  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_
  
  