mrpt::opengl::COctreePointRenderer< Derived > Class Template Reference

Detailed Description

template<class Derived>
class mrpt::opengl::COctreePointRenderer< Derived >

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

Definition at line 65 of file COctreePointRenderer.h.

#include <mrpt/opengl/COctreePointRenderer.h>

Inheritance diagram for mrpt::opengl::COctreePointRenderer< Derived >:

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

template<class Derived>

anonymous enum

Enumerator
OCTREE_ROOT_NODE

Definition at line 81 of file COctreePointRenderer.h.

Constructor & Destructor Documentation

template<class Derived>

mrpt::opengl::COctreePointRenderer< Derived >::COctreePointRenderer ( )

inline

Default ctor.

Definition at line 69 of file COctreePointRenderer.h.

template<class Derived>

mrpt::opengl::COctreePointRenderer< Derived >::COctreePointRenderer ( const COctreePointRenderer< Derived > &  )

inline

Copy ctor.

Definition at line 76 of file COctreePointRenderer.h.

Member Function Documentation

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::internal_octree_assure_uptodate ( )

inlineprivate

Definition at line 415 of file COctreePointRenderer.h.

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::internal_recursive_split ( const size_t  node_id, const bool  all_pts = false  )

inlineprivate

Definition at line 430 of file COctreePointRenderer.h.

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::octree_assure_uptodate ( ) const

inlineprotected

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

Definition at line 89 of file COctreePointRenderer.h.

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::octree_debug_dump_tree ( std::ostream &  o ) const

inline

Used for debug only.

Definition at line 570 of file COctreePointRenderer.h.

template<class Derived>

Derived& mrpt::opengl::COctreePointRenderer< Derived >::octree_derived ( )

inlineprotected

Definition at line 85 of file COctreePointRenderer.h.

template<class Derived>

const Derived& mrpt::opengl::COctreePointRenderer< Derived >::octree_derived ( ) const

inlineprotected

Definition at line 86 of file COctreePointRenderer.h.

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::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.

template<class Derived>

size_t mrpt::opengl::COctreePointRenderer< Derived >::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.

template<class Derived>

size_t mrpt::opengl::COctreePointRenderer< Derived >::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.

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::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.

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::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

inlineprivate

Render a given node.

Definition at line 220 of file COctreePointRenderer.h.

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::octree_render ( const mrpt::opengl::gl_utils::TRenderInfo &  ri ) const

inlineprotected

Render the entire octree recursively.

Should be called from children's render() method.

Definition at line 97 of file COctreePointRenderer.h.

Member Data Documentation

template<class Derived>

bool mrpt::opengl::COctreePointRenderer< Derived >::m_octree_has_to_rebuild_all

private

Definition at line 213 of file COctreePointRenderer.h.

template<class Derived>

std::deque<TNode> mrpt::opengl::COctreePointRenderer< Derived >::m_octree_nodes

private

First one [0] is always the root node.

Definition at line 214 of file COctreePointRenderer.h.

template<class Derived>

std::vector<TRenderQueueElement> mrpt::opengl::COctreePointRenderer< Derived >::m_render_queue

mutableprivate

The list of elements that really are visible and will be rendered.

Definition at line 210 of file COctreePointRenderer.h.

template<class Derived>

volatile size_t mrpt::opengl::COctreePointRenderer< Derived >::m_visible_octree_nodes

mutableprivate

Definition at line 217 of file COctreePointRenderer.h.

template<class Derived>

volatile size_t mrpt::opengl::COctreePointRenderer< Derived >::m_visible_octree_nodes_ongoing

mutableprivate

Definition at line 217 of file COctreePointRenderer.h.