COctreePointRenderer.h File Reference

#include <mrpt/img/TPixelCoord.h>
#include <mrpt/opengl/CBox.h>
#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <atomic>
#include <deque>

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Classes
class	mrpt::opengl::COctreePointRenderer< Derived >
	Template class that implements the data structure and algorithms for Octree-based efficient rendering. More...
struct	mrpt::opengl::COctreePointRenderer< Derived >::TNode
	The structure for each octree spatial node. More...
struct	mrpt::opengl::COctreePointRenderer< Derived >::TRenderQueueElement

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::global_settings
	Global variables to change the run-time behaviour of some MRPT classes within mrpt-base.
	mrpt::opengl
	The namespace for 3D scene representation and rendering.

Macros
#define	PROJ_SUB_NODE(POSTFIX)
#define	PROJ_SUB_NODE_ALREADY_DONE(INDEX, POSTFIX)
#define	DO_RECURSE_CHILD( INDEX, SEQ0, SEQ1, SEQ2, SEQ3, SEQ4, SEQ5, SEQ6, SEQ7)

Functions
void	mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL (float value)
	Default value = 0.01 points/px^2. More...
float	mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL ()
size_t	mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE ()
	Default value = 1e5. More...
void	mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE (size_t value)

Macro Definition Documentation

DO_RECURSE_CHILD

#define DO_RECURSE_CHILD	(		INDEX,
			SEQ0,
			SEQ1,
			SEQ2,
			SEQ3,
			SEQ4,
			SEQ5,
			SEQ6,
			SEQ7
	)

Value:

{                                                                    \
        mrpt::img::TPixelCoordf child_cr_px[8] = {                       \
            px_##SEQ0, px_##SEQ1, px_##SEQ2, px_##SEQ3,                  \
            px_##SEQ4, px_##SEQ5, px_##SEQ6, px_##SEQ7};                 \
        float child_cr_z[8] = {depth_##SEQ0, depth_##SEQ1, depth_##SEQ2, \
                               depth_##SEQ3, depth_##SEQ4, depth_##SEQ5, \
                               depth_##SEQ6, depth_##SEQ7};              \
        this->octree_recursive_render(                                   \
            node.child_id[INDEX], ri, child_cr_px, child_cr_z);          \
    }

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

PROJ_SUB_NODE

#define PROJ_SUB_NODE

(

POSTFIX

)

Value:

mrpt::img::TPixelCoordf px_##POSTFIX;                            \
    float depth_##POSTFIX;                                           \
    ri.projectPointPixels(                                           \
        p_##POSTFIX.x, p_##POSTFIX.y, p_##POSTFIX.z, px_##POSTFIX.x, \
        px_##POSTFIX.y, depth_##POSTFIX);

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

PROJ_SUB_NODE_ALREADY_DONE

#define PROJ_SUB_NODE_ALREADY_DONE	(		INDEX,
			POSTFIX
	)

Value:

const mrpt::img::TPixelCoordf px_##POSTFIX = cr_px[INDEX]; \
    float depth_##POSTFIX = cr_z[INDEX];

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