XnVPointDenoiser.h

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


#ifndef _XNV_POINT_DENOISER_H_
#define _XNV_POINT_DENOISER_H_

#include "XnVPointFilter.h"

struct XnVDenoisingLocalContext;
struct XnVIntLocalHash;

class XNV_NITE_API XnVPointDenoiser :
    public XnVPointFilter
{
public:
    XnVPointDenoiser(XnFloat fDistanceThreshold = ms_fDefaultDistanceThreshold,
        const XnChar* strName = "XnVPointDenoiser");
    ~XnVPointDenoiser();

    void Update(XnVMessage* pMessage);

    void OnPointCreate(const XnVHandPointContext* pContext);
    void OnPointUpdate(const XnVHandPointContext* pContext);
    void OnPointDestroy(XnUInt32 nID);
    void OnPrimaryPointCreate(const XnVHandPointContext* pContext, const XnPoint3D& ptSessionStarter);

    XnFloat GetDistanceThreshold() const;
    void SetDistanceThreshold(XnFloat fDistanceThreshold);

    XnFloat GetCloseRatio() const;
    XnFloat GetFarRatio() const;

    void SetCloseRatio(XnFloat fCloseRatio);
    void SetFarRatio(XnFloat fFarRatio);

protected:
    XnVDenoisingLocalContext* GetLocalContext(XnUInt32 nID);
    XnFloat Distance(XnPoint3D& pt1, XnPoint3D& pt2) const;
    void UpdatePointDenoise(XnPoint3D& ptToChange, const XnPoint3D& ptDontChange);

    void Clear();

    XnVIntLocalHash* m_pActivePoints;

    static const XnFloat ms_fDefaultDistanceThreshold;  //  = 10
    static const XnFloat ms_fDefaultCloseRatio;     // = 0.0
    static const XnFloat ms_fDefaultFarRatio;           // = 1.0

    XnFloat m_fDistanceThreshold;
    XnFloat m_fCloseRatio;
    XnFloat m_fFarRatio;

    XnVMultipleHands m_DenoisedHands;
};

#endif