Detailed Description

Template class that implements the data structure and algorithms for Octree-based efficient rendering.

See also:: mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, http://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points

#include <mrpt/opengl/COctreePointRenderer.h>

Inheritance diagram for mrpt::opengl::COctreePointRenderer:

Classes
struct	TNode
	The structure for each octree spatial node. More...
struct	TRenderQueueElement
Public Types
enum	{ OCTREE_ROOT_NODE = 0 }
Public Member Functions
	COctreePointRenderer ()
	Default ctor.
	COctreePointRenderer (const COctreePointRenderer &)
	Copy ctor.
size_t	octree_get_node_count () const
	Return the number of octree nodes (all of them, including the empty ones)
size_t	octree_get_visible_nodes () const
	Return the number of visible octree nodes in the last render event.
void	octree_mark_as_outdated ()
	Called from the derived class (or the user) to indicate we have/want to rebuild the entire node tree (for example, after modifying the point cloud or any global octree parameter)
void	octree_get_graphics_boundingboxes (mrpt::opengl::CSetOfObjects &gl_bb, const double lines_width=1, const TColorf lines_color=TColorf(1, 1, 1)) const
	Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes.
void	octree_debug_dump_tree (std::ostream &o) const
	Used for debug only.
Protected Member Functions
Derived &	octree_derived ()
const Derived &	octree_derived () const
void	octree_assure_uptodate () const
	Must be called at children class' render() previously to octree_render()
void	octree_render (const mrpt::opengl::gl_utils::TRenderInfo &ri) const
	Render the entire octree recursively.
Private Member Functions
void	octree_recursive_render (size_t node_idx, const mrpt::opengl::gl_utils::TRenderInfo &ri, TPixelCoordf cr_px[8], float cr_z[8], bool corners_are_all_computed=true, bool trust_me_youre_visible=false, float approx_area_sqpixels=0) const
	Render a given node.
void	internal_octree_assure_uptodate ()
void	internal_recursive_split (const size_t node_id, const bool all_pts=false)
Private Attributes
std::vector< TRenderQueueElement >	m_render_queue
	The list of elements that really are visible and will be rendered.
bool	m_octree_has_to_rebuild_all
std::deque< TNode >	m_octree_nodes
	First one [0] is always the root node.
volatile size_t	m_visible_octree_nodes
volatile size_t	m_visible_octree_nodes_ongoing

Member Enumeration Documentation

anonymous enum

Enumerator:

OCTREE_ROOT_NODE

Definition at line 81 of file COctreePointRenderer.h.

Constructor & Destructor Documentation

mrpt::opengl::COctreePointRenderer::COctreePointRenderer ( ) [inline]

Default ctor.

Definition at line 69 of file COctreePointRenderer.h.

mrpt::opengl::COctreePointRenderer::COctreePointRenderer ( const COctreePointRenderer & ) [inline]

Copy ctor.

Definition at line 76 of file COctreePointRenderer.h.

Member Function Documentation

void mrpt::opengl::COctreePointRenderer::internal_octree_assure_uptodate ( ) [inline, private]

Definition at line 415 of file COctreePointRenderer.h.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_assure_uptodate().

void mrpt::opengl::COctreePointRenderer::internal_recursive_split	(	const size_t	node_id,
		const bool	all_pts = `false`
	)		`[inline, private]`

Definition at line 430 of file COctreePointRenderer.h.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_octree_assure_uptodate(), and mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_recursive_split().

void mrpt::opengl::COctreePointRenderer::octree_assure_uptodate ( ) const [inline, protected]

Must be called at children class' render() previously to octree_render()

Definition at line 89 of file COctreePointRenderer.h.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes().

void mrpt::opengl::COctreePointRenderer::octree_debug_dump_tree ( std::ostream & o ) const [inline]

Used for debug only.

Definition at line 570 of file COctreePointRenderer.h.

Derived& mrpt::opengl::COctreePointRenderer::octree_derived ( ) [inline, protected]

Definition at line 85 of file COctreePointRenderer.h.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_render(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_recursive_split(), and mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_debug_dump_tree().

const Derived& mrpt::opengl::COctreePointRenderer::octree_derived ( ) const [inline, protected]

Definition at line 86 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer::octree_get_graphics_boundingboxes	(	mrpt::opengl::CSetOfObjects &	gl_bb,
		const double	lines_width = `1`,
		const TColorf	lines_color = `TColorf(1,1,1)`
	)		const `[inline]`

Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes.

Definition at line 548 of file COctreePointRenderer.h.

size_t mrpt::opengl::COctreePointRenderer::octree_get_node_count ( ) const [inline]

Return the number of octree nodes (all of them, including the empty ones)

See also:: octree_get_nonempty_node_count

Definition at line 538 of file COctreePointRenderer.h.

size_t mrpt::opengl::COctreePointRenderer::octree_get_visible_nodes ( ) const [inline]

Return the number of visible octree nodes in the last render event.

Definition at line 541 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer::octree_mark_as_outdated ( ) [inline]

Called from the derived class (or the user) to indicate we have/want to rebuild the entire node tree (for example, after modifying the point cloud or any global octree parameter)

Definition at line 544 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer::octree_recursive_render	(	size_t	node_idx,
		const mrpt::opengl::gl_utils::TRenderInfo &	ri,
		TPixelCoordf	cr_px[8],
		float	cr_z[8],
		bool	corners_are_all_computed = `true`,
		bool	trust_me_youre_visible = `false`,
		float	approx_area_sqpixels = `0`
	)		const `[inline, private]`