template class mrpt::opengl::COctreePointRenderer¶

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

#include <mrpt/opengl/COctreePointRenderer.h>

template <class Derived>
class COctreePointRenderer
{
public:
    // structs

    struct TNode;
    struct TRenderQueueElement;

    // construction

    COctreePointRenderer();
    COctreePointRenderer(const COctreePointRenderer&);

    //
methods

    size_t octree_get_node_count() const;
    size_t octree_get_visible_nodes() const;
    void octree_mark_as_outdated();

    void octree_get_graphics_boundingboxes(
        mrpt::opengl::CSetOfObjects& gl_bb,
        const float lines_width = 1,
        const mrpt::img::TColorf& lines_color = mrpt::img::TColorf(1, 1, 1),
        const bool draw_solid_boxes = false
        ) const;

    void octree_debug_dump_tree(std::ostream& o) const;
};

// direct descendants

class CPointCloud;
class CPointCloudColoured;

Construction¶

COctreePointRenderer()

Default ctor.

COctreePointRenderer(const COctreePointRenderer&)

Copy ctor.

Methods¶

size_t octree_get_node_count() const

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

See also:

octree_get_nonempty_node_count

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 float lines_width = 1,
    const mrpt::img::TColorf& lines_color = mrpt::img::TColorf(1, 1, 1),
    const bool draw_solid_boxes = false
    ) const

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

Parameters:

draw_solid_boxes

If false, will draw solid boxes of color lines_color. Otherwise, wireframe boxes will be drawn.

void octree_debug_dump_tree(std::ostream& o) const

Used for debug only.