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 51 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. More...
	COctreePointRenderer (const COctreePointRenderer &)
	Copy ctor. More...
size_t	octree_get_node_count () const
	Return the number of octree nodes (all of them, including the empty ones) More...
size_t	octree_get_visible_nodes () const
	Return the number of visible octree nodes in the last render event. More...
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) More...
void	octree_get_graphics_boundingboxes (mrpt::opengl::CSetOfObjects &gl_bb, const double lines_width=1, const mrpt::utils::TColorf &lines_color=mrpt::utils::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. More...
void	octree_debug_dump_tree (std::ostream &o) const
	Used for debug only. More...

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() More...
void	octree_render (const mrpt::opengl::gl_utils::TRenderInfo &ri) const
	Render the entire octree recursively. More...
void	octree_getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const

Private Member Functions
void	octree_recursive_render (size_t node_idx, const mrpt::opengl::gl_utils::TRenderInfo &ri, mrpt::utils::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. More...
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. More...
bool	m_octree_has_to_rebuild_all
mrpt::aligned_containers< TNode >::deque_t	m_octree_nodes
	First one [0] is always the root node. More...
volatile size_t	m_visible_octree_nodes
volatile size_t	m_visible_octree_nodes_ongoing

Member Enumeration Documentation

anonymous enum

template<class Derived>

anonymous enum

Enumerator
OCTREE_ROOT_NODE

Definition at line 70 of file COctreePointRenderer.h.

Constructor & Destructor Documentation

COctreePointRenderer() [1/2]

template<class Derived>

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

inline

Default ctor.

Definition at line 55 of file COctreePointRenderer.h.

COctreePointRenderer() [2/2]

template<class Derived>

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

inline

Copy ctor.

Definition at line 63 of file COctreePointRenderer.h.

Member Function Documentation

internal_octree_assure_uptodate()

template<class Derived>

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

inlineprivate

Definition at line 573 of file COctreePointRenderer.h.

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

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internal_recursive_split()

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 590 of file COctreePointRenderer.h.

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

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octree_assure_uptodate()

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 85 of file COctreePointRenderer.h.

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

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octree_debug_dump_tree()

template<class Derived>

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

inline

Used for debug only.

Definition at line 758 of file COctreePointRenderer.h.

octree_derived() [1/2]

template<class Derived>

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

inlineprotected

Definition at line 77 of file COctreePointRenderer.h.

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

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octree_derived() [2/2]

template<class Derived>

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

inlineprotected

Definition at line 78 of file COctreePointRenderer.h.

octree_get_graphics_boundingboxes()

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::octree_get_graphics_boundingboxes ( mrpt::opengl::CSetOfObjects &  gl_bb, const double  lines_width = 1, const mrpt::utils::TColorf &  lines_color = mrpt::utils::TColorf(1, 1, 1), const bool  draw_solid_boxes = false  ) const

inline

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

Parameters

[in]

draw_solid_boxes

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

Definition at line 734 of file COctreePointRenderer.h.

octree_get_node_count()

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 718 of file COctreePointRenderer.h.

octree_get_visible_nodes()

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 720 of file COctreePointRenderer.h.

octree_getBoundingBox()

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::octree_getBoundingBox ( mrpt::math::TPoint3D &  bb_min, mrpt::math::TPoint3D &  bb_max  ) const

inlineprotected

Definition at line 119 of file COctreePointRenderer.h.

octree_mark_as_outdated()

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 724 of file COctreePointRenderer.h.

octree_recursive_render()

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::octree_recursive_render ( size_t  node_idx, const mrpt::opengl::gl_utils::TRenderInfo &  ri, mrpt::utils::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 293 of file COctreePointRenderer.h.

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

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octree_render()

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 94 of file COctreePointRenderer.h.

Member Data Documentation

m_octree_has_to_rebuild_all

template<class Derived>

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

private

Definition at line 284 of file COctreePointRenderer.h.

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

m_octree_nodes

template<class Derived>

mrpt::aligned_containers<TNode>::deque_t mrpt::opengl::COctreePointRenderer< Derived >::m_octree_nodes

private

First one [0] is always the root node.

Definition at line 286 of file COctreePointRenderer.h.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_octree_assure_uptodate(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_recursive_split(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_debug_dump_tree(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_node_count(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_getBoundingBox(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_recursive_render(), and mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_render().

m_render_queue

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 282 of file COctreePointRenderer.h.

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

m_visible_octree_nodes

template<class Derived>

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

mutableprivate

Definition at line 289 of file COctreePointRenderer.h.

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

m_visible_octree_nodes_ongoing

template<class Derived>

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

mutableprivate

Definition at line 289 of file COctreePointRenderer.h.

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