XnVCircleDetector.h

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/*******************************************************************************
*                                                                              *
*   PrimeSense NITE 1.3                                                        *
*   Copyright (C) 2010 PrimeSense Ltd.                                         *
*                                                                              *
*******************************************************************************/


#ifndef _XNV_CIRCLE_DETECTOR_H_
#define _XNV_CIRCLE_DETECTOR_H_

#include "XnVPointControl.h"
#include "XnVNiteDefs.h"
#include "XnVCircle.h"

class XnVPointBuffer;
class XnVCircleSolver;

class XnVNoCircleSpecificEvent;
class XnVCircleSpecificEvent;

class XNV_NITE_API XnVCircleDetector :
    public XnVPointControl
{
public:
    enum XnVNoCircleReason
    {
        NO_CIRCLE_ILLEGAL,
        NO_CIRCLE_NO_INPUT,
        NO_CIRCLE_BAD_POINTS,
        NO_CIRCLE_MANUAL
    };

    typedef void (XN_CALLBACK_TYPE *CircleCB)(XnFloat fTimes, XnBool bConfident, const XnVCircle* pCircle, void* pUserCxt);
    typedef void (XN_CALLBACK_TYPE *NoCircleCB)(XnFloat fLastValue, XnVNoCircleReason eReason, void* pUserCxt);

    XnVCircleDetector(const XnChar* strName = "XnVCircleDetector");
    ~XnVCircleDetector();

    void OnPrimaryPointCreate(const XnVHandPointContext* pContext, const XnPoint3D& ptFocus);
    void OnPrimaryPointUpdate(const XnVHandPointContext* pContext);
    void OnPrimaryPointDestroy(XnUInt32 nID);

    XnCallbackHandle RegisterCircle(void* cxt, CircleCB pCB);
    XnCallbackHandle RegisterNoCircle(void* cxt, NoCircleCB pCB);

    void UnregisterCircle(XnCallbackHandle handle);
    void UnregisterNoCircle(XnCallbackHandle handle);

    void Reset();

    XnStatus SetMinimumPoints(XnUInt32 nMinimumPoints);
    XnStatus SetCloseToExistingRadius(XnFloat fCloseToExistingRadius);
    XnStatus SetCloseEnough(XnFloat fCloseEnough);
    XnStatus SetMinRadius(XnFloat fMinRadius);
    XnStatus SetMaxRadius(XnFloat fMaxRadius);
    XnStatus SetExistingWeight(XnFloat fExistingWeight);
    XnStatus SetMaxErrors(XnUInt32 nMaxErrors);

    XnStatus GetMinimumPoints(XnUInt32& nMinimumPoints) const;
    XnStatus GetCloseToExistingRadius(XnFloat& fCloseToExistingRadius) const;
    XnStatus GetCloseEnough(XnFloat& fCloseEnough) const;
    XnStatus GetMinRadius(XnFloat& fMinRadius) const;
    XnStatus GetMaxRadius(XnFloat& fMaxRadius) const;
    XnStatus GetExistingWeight(XnFloat& fExistingWeight) const;
    XnStatus GetMaxErrors(XnUInt32& nMaxErrors) const;

protected:
    void AddPoint(const XnPoint3D& pt, XnFloat fTime);

    XnVCircleSolver* m_pCircleSolver;
    XnVCircle* m_pCurrentCircle;

    XnFloat m_fCurrentAngle;
    XnInt32 m_nCircles;
    XnBool m_bCircleExists;
    XnUInt32 m_nErrors;

    XnUInt32 m_nMinimumPoints;
    XnFloat m_fCloseToExistingRadius;
    XnFloat m_fCloseEnough;
    XnFloat m_fMinRadius;
    XnFloat m_fMaxRadius;
    XnFloat m_fExistingWeight;
    XnFloat m_fNewRadiusWeight;
    XnUInt32 m_nMaxErrors;

    static const XnUInt32 ms_nDefaultMinimumPoints;     // = 20
    static const XnFloat ms_fDefaultCloseToExistingRadius;  // = 50
    static const XnFloat ms_fDefaultCloseEnough;            // = 1000
    static const XnFloat ms_fDefaultMinRadius;              // = 40
    static const XnFloat ms_fDefaultMaxRadius;              // = 1200
    static const XnFloat ms_fDefaultExistingWeight;     // = 0.8f
    static const XnUInt32 ms_nDefaultMaxErrors;         // = 5

    XnVPointBuffer* m_pMovementDetectionBuffer;

    XnVCircleSpecificEvent* m_pCircleCBs;
    XnVNoCircleSpecificEvent* m_pNoCircleCBs;
};

#endif // _XNV_CIRCLE_DETECTOR_H_