COctreePointRenderer.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef opengl_COctreePointRenderer_H
#define opengl_COctreePointRenderer_H

#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CBox.h>
#include <mrpt/opengl/gl_utils.h>
#include <mrpt/core/aligned_std_deque.h>

namespace mrpt
{
namespace global_settings
{
/** Default value = 0.01 points/px^2. Affects to these classes (read their docs
 *for further details):
 *      - mrpt::opengl::CPointCloud
 *      - mrpt::opengl::CPointCloudColoured
 * \ingroup mrpt_opengl_grp
 */
void OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL(float value);
float OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL();

/** Default value = 1e5. Maximum number of elements in each octree node before
 *spliting. Affects to these classes (read their docs for further details):
 *      - mrpt::opengl::CPointCloud
 *      - mrpt::opengl::CPointCloudColoured
 * \ingroup mrpt_opengl_grp
 */
size_t OCTREE_RENDER_MAX_POINTS_PER_NODE();
void OCTREE_RENDER_MAX_POINTS_PER_NODE(size_t value);

}  // namespace global_settings

namespace opengl
{
/** Template class that implements the data structure and algorithms for
 * Octree-based efficient rendering.
 *  \sa mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured,
 * http://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points
 * \ingroup mrpt_opengl_grp
 */
template <class Derived>
class COctreePointRenderer
{
   public:
    /** Default ctor */
    COctreePointRenderer()
        : m_octree_has_to_rebuild_all(true),
          m_visible_octree_nodes(0),
          m_visible_octree_nodes_ongoing(0)
    {
    }

    /** Copy ctor */
    COctreePointRenderer(const COctreePointRenderer&)
        : m_octree_has_to_rebuild_all(true),
          m_visible_octree_nodes(0),
          m_visible_octree_nodes_ongoing(0)
    {
    }

    enum
    {
        OCTREE_ROOT_NODE = 0
    };

   protected:
    // Helper methods in any CRTP template
    inline Derived& octree_derived() { return *static_cast<Derived*>(this); }
    inline const Derived& octree_derived() const
    {
        return *static_cast<const Derived*>(this);
    }

    /** Must be called at children class' render() previously to \a
     * octree_render() */
    inline void octree_assure_uptodate() const
    {
        const_cast<COctreePointRenderer<Derived>*>(this)
            ->internal_octree_assure_uptodate();
    }

    /** Render the entire octree recursively.
     * Should be called from children's render() method.
     */
    void octree_render(const mrpt::opengl::gl_utils::TRenderInfo& ri) const
    {
        m_visible_octree_nodes_ongoing = 0;

        // Stage 1: Build list of visible octrees
        m_render_queue.clear();
        m_render_queue.reserve(m_octree_nodes.size());

        mrpt::img::TPixelCoordf cr_px[8];
        float cr_z[8];
        octree_recursive_render(
            OCTREE_ROOT_NODE, ri, cr_px, cr_z,
            false /* corners are not computed for this first iteration */);

        m_visible_octree_nodes = m_visible_octree_nodes_ongoing;

        // Stage 2: Render them all
        for (size_t i = 0; i < m_render_queue.size(); i++)
        {
            const TNode& node = m_octree_nodes[m_render_queue[i].node_id];
            octree_derived().render_subset(
                node.all, node.pts, m_render_queue[i].render_area_sqpixels);
        }
    }

    void octree_getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
    {
        octree_assure_uptodate();
        if (!m_octree_nodes.empty())
        {
            bb_min = mrpt::math::TPoint3D(m_octree_nodes[0].bb_min);
            bb_max = mrpt::math::TPoint3D(m_octree_nodes[0].bb_max);
        }
    }

   private:
    /** The structure for each octree spatial node. Each node can either be a
     * leaf of has 8 children nodes.
     *  Instead of pointers, children are referenced by their indices in \a
     * m_octree_nodes
     */
    struct TNode
    {
        TNode()
            : is_leaf(true),
              bb_min(
                  std::numeric_limits<float>::max(),
                  std::numeric_limits<float>::max(),
                  std::numeric_limits<float>::max()),
              bb_max(
                  -std::numeric_limits<float>::max(),
                  -std::numeric_limits<float>::max(),
                  -std::numeric_limits<float>::max()),
              all(false)
        {
        }

        /** true: it's a leaf and \a pts has valid indices; false: \a children
         * is valid. */
        bool is_leaf;

        // In all cases, the bounding_box:
        mrpt::math::TPoint3Df bb_min, bb_max;

        // Fields used if is_leaf=true
        /** Point indices in the derived class that fall into this node. */
        std::vector<size_t> pts;
        /** true: All elements in the reference object; false: only those in \a
         * pts */
        bool all;

        // Fields used if is_leaf=false
        /** [is_leaf=false] The center of the node, whose coordinates are used
         * to decide between the 8 children nodes. */
        mrpt::math::TPoint3Df center;
        /** [is_leaf=false] The indices in \a m_octree_nodes of the 8 children.
         */
        size_t child_id[8];

        /** update bounding box with a new point: */
        inline void update_bb(const mrpt::math::TPoint3Df& p)
        {
            mrpt::keep_min(bb_min.x, p.x);
            mrpt::keep_min(bb_min.y, p.y);
            mrpt::keep_min(bb_min.z, p.z);
            mrpt::keep_max(bb_max.x, p.x);
            mrpt::keep_max(bb_max.y, p.y);
            mrpt::keep_max(bb_max.z, p.z);
        }

        inline float getCornerX(int i) const
        {
            return (i & 0x01) == 0 ? bb_min.x : bb_max.x;
        }
        inline float getCornerY(int i) const
        {
            return (i & 0x02) == 0 ? bb_min.y : bb_max.y;
        }
        inline float getCornerZ(int i) const
        {
            return (i & 0x04) == 0 ? bb_min.z : bb_max.z;
        }

        void setBBFromOrderInParent(const TNode& parent, int my_child_index)
        {
            // Coordinate signs are relative to the parent center (split point):
            switch (my_child_index)
            {
                case 0:  // x-, y-, z-
                    bb_min = parent.bb_min;
                    bb_max = parent.center;
                    break;
                case 1:  // x+, y-, z-
                    bb_min.x = parent.center.x;
                    bb_max.x = parent.bb_max.x;
                    bb_min.y = parent.bb_min.y;
                    bb_max.y = parent.center.y;
                    bb_min.z = parent.bb_min.z;
                    bb_max.z = parent.center.z;
                    break;
                case 2:  // x-, y+, z-
                    bb_min.x = parent.bb_min.x;
                    bb_max.x = parent.center.x;
                    bb_min.y = parent.center.y;
                    bb_max.y = parent.bb_max.y;
                    bb_min.z = parent.bb_min.z;
                    bb_max.z = parent.center.z;
                    break;
                case 3:  // x+, y+, z-
                    bb_min.x = parent.center.x;
                    bb_max.x = parent.bb_max.x;
                    bb_min.y = parent.center.y;
                    bb_max.y = parent.bb_max.y;
                    bb_min.z = parent.bb_min.z;
                    bb_max.z = parent.center.z;
                    break;
                case 4:  // x-, y-, z+
                    bb_min.x = parent.bb_min.x;
                    bb_max.x = parent.center.x;
                    bb_min.y = parent.bb_min.y;
                    bb_max.y = parent.center.y;
                    bb_min.z = parent.center.z;
                    bb_max.z = parent.bb_max.z;
                    break;
                case 5:  // x+, y-, z+
                    bb_min.x = parent.center.x;
                    bb_max.x = parent.bb_max.x;
                    bb_min.y = parent.bb_min.y;
                    bb_max.y = parent.center.y;
                    bb_min.z = parent.center.z;
                    bb_max.z = parent.bb_max.z;
                    break;
                case 6:  // x-, y+, z+
                    bb_min.x = parent.bb_min.x;
                    bb_max.x = parent.center.x;
                    bb_min.y = parent.center.y;
                    bb_max.y = parent.bb_max.y;
                    bb_min.z = parent.center.z;
                    bb_max.z = parent.bb_max.z;
                    break;
                case 7:  // x+, y+, z+
                    bb_min = parent.center;
                    bb_max = parent.bb_max;
                    break;
                default:
                    throw std::runtime_error("my_child_index!=[0,7]");
            }
        }

       public:
        MRPT_MAKE_ALIGNED_OPERATOR_NEW
    };

    struct TRenderQueueElement
    {
        inline TRenderQueueElement(const size_t id, float area_sq)
            : node_id(id), render_area_sqpixels(area_sq)
        {
        }

        /** The node ID to render */
        size_t node_id;
        /** The approximate size of the octree on the screen (squared pixels).
         */
        float render_area_sqpixels;
    };
    /** The list of elements that really are visible and will be rendered. */
    mutable std::vector<TRenderQueueElement> m_render_queue;

    bool m_octree_has_to_rebuild_all;
    /** First one [0] is always the root node */
    mrpt::aligned_std_deque<TNode> m_octree_nodes;

    // Counters of visible octrees for each render:
    volatile mutable size_t m_visible_octree_nodes,
        m_visible_octree_nodes_ongoing;

    /** Render a given node. */
    void octree_recursive_render(
        size_t node_idx, const mrpt::opengl::gl_utils::TRenderInfo& ri,
        mrpt::img::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
    {
        const TNode& node = m_octree_nodes[node_idx];

        if (!corners_are_all_computed)
        {
            for (int i = 0; i < 8; i++)
            {
                // project point:
                ri.projectPointPixels(
                    node.getCornerX(i), node.getCornerY(i), node.getCornerZ(i),
                    cr_px[i].x, cr_px[i].y, cr_z[i]);
            }
        }

        mrpt::img::TPixelCoordf px_min(
            std::numeric_limits<float>::max(),
            std::numeric_limits<float>::max()),
            px_max(
                -std::numeric_limits<float>::max(),
                -std::numeric_limits<float>::max());
        if (!trust_me_youre_visible)
        {
            // Keep the on-screen bounding box of this node:
            for (int i = 0; i < 8; i++)
            {
                mrpt::keep_min(px_min.x, cr_px[i].x);
                mrpt::keep_min(px_min.y, cr_px[i].y);
                mrpt::keep_max(px_max.x, cr_px[i].x);
                mrpt::keep_max(px_max.y, cr_px[i].y);
            }

            const bool any_cr_zs_neg =
                (cr_z[0] < 0 || cr_z[1] < 0 || cr_z[2] < 0 || cr_z[3] < 0 ||
                 cr_z[4] < 0 || cr_z[5] < 0 || cr_z[6] < 0 || cr_z[7] < 0);
            const bool any_cr_zs_pos =
                (cr_z[0] > 0 || cr_z[1] > 0 || cr_z[2] > 0 || cr_z[3] > 0 ||
                 cr_z[4] > 0 || cr_z[5] > 0 || cr_z[6] > 0 || cr_z[7] > 0);
            const bool box_crosses_image_plane = any_cr_zs_pos && any_cr_zs_neg;

            // If all 8 corners are way out of the screen (and all "cr_z" have
            // the same sign),
            // this node and all the children are not visible:
            if (!box_crosses_image_plane &&
                (px_min.x >= ri.vp_width || px_min.y >= ri.vp_height ||
                 px_max.x < 0 || px_max.y < 0))
                return;  // Not visible
        }

        // Check if the node has points and is visible:
        if (node.is_leaf)
        {  // Render this leaf node:
            if (node.all || !node.pts.empty())
            {
                // If we are here, it seems at least a part of the Box is
                // visible:
                m_visible_octree_nodes_ongoing++;

                float render_area_sqpixels =
                    trust_me_youre_visible ? approx_area_sqpixels
                                           : std::abs(px_min.x - px_max.x) *
                                                 std::abs(px_min.y - px_max.y);
                render_area_sqpixels = std::max(1.0f, render_area_sqpixels);

                // OK: Add to list of rendering-pending:
                m_render_queue.push_back(
                    TRenderQueueElement(node_idx, render_area_sqpixels));
            }
        }
        else
        {  // Render children nodes:
            // If ALL my 8 corners are within the screen, tell our children that
            // they
            //  won't need to compute anymore, since all of them and their
            //  children are visible as well:
            bool children_are_all_visible_for_sure = true;

            if (!trust_me_youre_visible)  // Trust my parent... otherwise:
            {
                for (int i = 0; i < 8; i++)
                {
                    if (!(cr_px[i].x >= 0 && cr_px[i].y >= 0 &&
                          cr_px[i].x < ri.vp_width &&
                          cr_px[i].y < ri.vp_height))
                    {
                        children_are_all_visible_for_sure = false;
                        break;
                    }
                }
            }

            // If all children are visible, it's easy:
            if (children_are_all_visible_for_sure)
            {
                mrpt::img::TPixelCoordf
                    child_cr_px[8];  // No need to initialize
                float child_cr_z[8];  // No need to initialize

                // Approximate area of the children nodes:
                const float approx_child_area =
                    trust_me_youre_visible
                        ? approx_area_sqpixels / 8.0f
                        : std::abs(px_min.x - px_max.x) *
                              std::abs(px_min.y - px_max.y) / 8.0f;

                for (int i = 0; i < 8; i++)
                    this->octree_recursive_render(
                        node.child_id[i], ri, child_cr_px, child_cr_z, true,
                        true, approx_child_area);
            }
            else
            {
#ifdef __clang__
#pragma clang diagnostic push  // clang complains about unused vars (becase it
// doesn't realize of the macros?)
#pragma clang diagnostic ignored "-Wunused-variable"
#endif

                // Precompute the 19 (3*9-8) intermediary points so children
                // don't have to compute them several times:
                const mrpt::math::TPoint3Df p_Xm_Ym_Zm(
                    node.bb_min.x, node.bb_min.y, node.bb_min.z);  // 0
                const mrpt::math::TPoint3Df p_X0_Ym_Zm(
                    node.center.x, node.bb_min.y, node.bb_min.z);
                const mrpt::math::TPoint3Df p_Xp_Ym_Zm(
                    node.bb_max.x, node.bb_min.y, node.bb_min.z);  // 1
                const mrpt::math::TPoint3Df p_Xm_Y0_Zm(
                    node.bb_min.x, node.center.y, node.bb_min.z);
                const mrpt::math::TPoint3Df p_X0_Y0_Zm(
                    node.center.x, node.center.y, node.bb_min.z);
                const mrpt::math::TPoint3Df p_Xp_Y0_Zm(
                    node.bb_max.x, node.center.y, node.bb_min.z);
                const mrpt::math::TPoint3Df p_Xm_Yp_Zm(
                    node.bb_min.x, node.bb_max.y, node.bb_min.z);  // 2
                const mrpt::math::TPoint3Df p_X0_Yp_Zm(
                    node.center.x, node.bb_max.y, node.bb_min.z);
                const mrpt::math::TPoint3Df p_Xp_Yp_Zm(
                    node.bb_max.x, node.bb_max.y, node.bb_min.z);  // 3

                const mrpt::math::TPoint3Df p_Xm_Ym_Z0(
                    node.bb_min.x, node.bb_min.y, node.center.z);
                const mrpt::math::TPoint3Df p_X0_Ym_Z0(
                    node.center.x, node.bb_min.y, node.center.z);
                const mrpt::math::TPoint3Df p_Xp_Ym_Z0(
                    node.bb_max.x, node.bb_min.y, node.center.z);
                const mrpt::math::TPoint3Df p_Xm_Y0_Z0(
                    node.bb_min.x, node.center.y, node.center.z);
                const mrpt::math::TPoint3Df p_X0_Y0_Z0(
                    node.center.x, node.center.y, node.center.z);
                const mrpt::math::TPoint3Df p_Xp_Y0_Z0(
                    node.bb_max.x, node.center.y, node.center.z);
                const mrpt::math::TPoint3Df p_Xm_Yp_Z0(
                    node.bb_min.x, node.bb_max.y, node.center.z);
                const mrpt::math::TPoint3Df p_X0_Yp_Z0(
                    node.center.x, node.bb_max.y, node.center.z);
                const mrpt::math::TPoint3Df p_Xp_Yp_Z0(
                    node.bb_max.x, node.bb_max.y, node.center.z);

                const mrpt::math::TPoint3Df p_Xm_Ym_Zp(
                    node.bb_min.x, node.bb_min.y, node.bb_max.z);  // 4
                const mrpt::math::TPoint3Df p_X0_Ym_Zp(
                    node.center.x, node.bb_min.y, node.bb_max.z);
                const mrpt::math::TPoint3Df p_Xp_Ym_Zp(
                    node.bb_min.x, node.bb_min.y, node.bb_max.z);  // 5
                const mrpt::math::TPoint3Df p_Xm_Y0_Zp(
                    node.bb_min.x, node.center.y, node.bb_max.z);
                const mrpt::math::TPoint3Df p_X0_Y0_Zp(
                    node.center.x, node.center.y, node.bb_max.z);
                const mrpt::math::TPoint3Df p_Xp_Y0_Zp(
                    node.bb_max.x, node.center.y, node.bb_max.z);
                const mrpt::math::TPoint3Df p_Xm_Yp_Zp(
                    node.bb_min.x, node.bb_max.y, node.bb_max.z);  // 6
                const mrpt::math::TPoint3Df p_X0_Yp_Zp(
                    node.center.x, node.bb_max.y, node.bb_max.z);
                const mrpt::math::TPoint3Df p_Xp_Yp_Zp(
                    node.bb_max.x, node.bb_max.y, node.bb_max.z);  // 7

// Project all these points:
#define PROJ_SUB_NODE(POSTFIX)                                       \
    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);

#define PROJ_SUB_NODE_ALREADY_DONE(INDEX, POSTFIX)             \
    const mrpt::img::TPixelCoordf px_##POSTFIX = cr_px[INDEX]; \
    float depth_##POSTFIX = cr_z[INDEX];

                PROJ_SUB_NODE_ALREADY_DONE(0, Xm_Ym_Zm)
                PROJ_SUB_NODE(X0_Ym_Zm)
                PROJ_SUB_NODE_ALREADY_DONE(1, Xp_Ym_Zm)

                PROJ_SUB_NODE(Xm_Y0_Zm)
                PROJ_SUB_NODE(X0_Y0_Zm)
                PROJ_SUB_NODE(Xp_Y0_Zm)

                PROJ_SUB_NODE_ALREADY_DONE(2, Xm_Yp_Zm)
                PROJ_SUB_NODE(X0_Yp_Zm)
                PROJ_SUB_NODE_ALREADY_DONE(3, Xp_Yp_Zm)

                PROJ_SUB_NODE(Xm_Ym_Z0)
                PROJ_SUB_NODE(X0_Ym_Z0)
                PROJ_SUB_NODE(Xp_Ym_Z0)
                PROJ_SUB_NODE(Xm_Y0_Z0)
                PROJ_SUB_NODE(X0_Y0_Z0)
                PROJ_SUB_NODE(Xp_Y0_Z0)
                PROJ_SUB_NODE(Xm_Yp_Z0)
                PROJ_SUB_NODE(X0_Yp_Z0)
                PROJ_SUB_NODE(Xp_Yp_Z0)

                PROJ_SUB_NODE_ALREADY_DONE(4, Xm_Ym_Zp)
                PROJ_SUB_NODE(X0_Ym_Zp)
                PROJ_SUB_NODE_ALREADY_DONE(5, Xp_Ym_Zp)

                PROJ_SUB_NODE(Xm_Y0_Zp)
                PROJ_SUB_NODE(X0_Y0_Zp)
                PROJ_SUB_NODE(Xp_Y0_Zp)

                PROJ_SUB_NODE_ALREADY_DONE(6, Xm_Yp_Zp)
                PROJ_SUB_NODE(X0_Yp_Zp)
                PROJ_SUB_NODE_ALREADY_DONE(7, Xp_Yp_Zp)

// Recursive call children nodes:
#define DO_RECURSE_CHILD(                                                \
    INDEX, SEQ0, SEQ1, SEQ2, SEQ3, SEQ4, SEQ5, SEQ6, SEQ7)               \
    {                                                                    \
        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);          \
    }

                //                     0         1         2         3
                //                     4         5        6         7
                DO_RECURSE_CHILD(
                    0, Xm_Ym_Zm, X0_Ym_Zm, Xm_Y0_Zm, X0_Y0_Zm, Xm_Ym_Z0,
                    X0_Ym_Z0, Xm_Y0_Z0, X0_Y0_Z0)
                DO_RECURSE_CHILD(
                    1, X0_Ym_Zm, Xp_Ym_Zm, X0_Y0_Zm, Xp_Y0_Zm, X0_Ym_Z0,
                    Xp_Ym_Z0, X0_Y0_Z0, Xp_Y0_Z0)
                DO_RECURSE_CHILD(
                    2, Xm_Y0_Zm, X0_Y0_Zm, Xm_Yp_Zm, X0_Yp_Zm, Xm_Y0_Z0,
                    X0_Y0_Z0, Xm_Yp_Z0, X0_Yp_Z0)
                DO_RECURSE_CHILD(
                    3, X0_Y0_Zm, Xp_Y0_Zm, X0_Yp_Zm, Xp_Yp_Zm, X0_Y0_Z0,
                    Xp_Y0_Z0, X0_Yp_Z0, Xp_Yp_Z0)
                DO_RECURSE_CHILD(
                    4, Xm_Ym_Z0, X0_Ym_Z0, Xm_Y0_Z0, X0_Y0_Z0, Xm_Ym_Zp,
                    X0_Ym_Zp, Xm_Y0_Zp, X0_Y0_Zp)
                DO_RECURSE_CHILD(
                    5, X0_Ym_Z0, Xp_Ym_Z0, X0_Y0_Z0, Xp_Y0_Z0, X0_Ym_Zp,
                    Xp_Ym_Zp, X0_Y0_Zp, Xp_Y0_Zp)
                DO_RECURSE_CHILD(
                    6, Xm_Y0_Z0, X0_Y0_Z0, Xm_Yp_Z0, X0_Yp_Z0, Xm_Y0_Zp,
                    X0_Y0_Zp, Xm_Yp_Zp, X0_Yp_Zp)
                DO_RECURSE_CHILD(
                    7, X0_Y0_Z0, Xp_Y0_Z0, X0_Yp_Z0, Xp_Yp_Z0, X0_Y0_Zp,
                    Xp_Y0_Zp, X0_Yp_Zp, Xp_Yp_Zp)
#undef DO_RECURSE_CHILD
#undef PROJ_SUB_NODE
#undef PROJ_SUB_NODE_ALREADY_DONE

#ifdef __clang__
#pragma clang diagnostic pop
#endif
            }  // end "children_are_all_visible_for_sure"=false
        }
    }

    // The actual implementation (and non-const version) of
    // octree_assure_uptodate()
    void internal_octree_assure_uptodate()
    {
        if (!m_octree_has_to_rebuild_all) return;
        m_octree_has_to_rebuild_all = false;

        // Reset list of nodes:
        m_octree_nodes.assign(1, TNode());

        // recursive decide:
        internal_recursive_split(OCTREE_ROOT_NODE, true);
    }

    // Check the node "node_id" and create its children if needed, by looking at
    // its list
    //  of elements (or all derived object's elements if "all_pts"=true, which
    //  will only happen
    //  for the root node)
    void internal_recursive_split(
        const size_t node_id, const bool all_pts = false)
    {
        TNode& node = m_octree_nodes[node_id];
        const size_t N = all_pts ? octree_derived().size() : node.pts.size();

        const bool has_to_compute_bb = (node_id == OCTREE_ROOT_NODE);

        if (N <= mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE())
        {
            // No need to split this node:
            node.is_leaf = true;
            node.all = all_pts;

            // Update bounding-box:
            if (has_to_compute_bb)
            {
                if (all_pts)
                    for (size_t i = 0; i < N; i++)
                        node.update_bb(octree_derived().getPointf(i));
                else
                    for (size_t i = 0; i < N; i++)
                        node.update_bb(octree_derived().getPointf(node.pts[i]));
            }
        }
        else
        {
            // We have to split the node.
            // Compute the mean of all elements:
            mrpt::math::TPoint3Df mean(0, 0, 0);
            if (all_pts)
                for (size_t i = 0; i < N; i++)
                {
                    mrpt::math::TPoint3Df p = octree_derived().getPointf(i);
                    mean += p;
                    if (has_to_compute_bb) node.update_bb(p);
                }
            else
                for (size_t i = 0; i < N; i++)
                {
                    mrpt::math::TPoint3Df p =
                        octree_derived().getPointf(node.pts[i]);
                    mean += p;
                    if (has_to_compute_bb) node.update_bb(p);
                }

            // Save my split point:
            node.is_leaf = false;
            node.center = mean * (1.0f / N);

            // Allocate my 8 children structs
            const size_t children_idx_base = m_octree_nodes.size();
            m_octree_nodes.resize(children_idx_base + 8);
            for (int i = 0; i < 8; i++)
                node.child_id[i] = children_idx_base + i;

            // Set the bounding-boxes of my children (we already know them):
            for (int i = 0; i < 8; i++)
                m_octree_nodes[children_idx_base + i].setBBFromOrderInParent(
                    node, i);

            // Divide elements among children:
            const mrpt::math::TPoint3Df& c =
                node.center;  // to make notation clearer
            for (size_t j = 0; j < N; j++)
            {
                const size_t i = all_pts ? j : node.pts[j];
                const mrpt::math::TPoint3Df p = octree_derived().getPointf(i);
                if (p.z < c.z)
                {
                    if (p.y < c.y)
                    {
                        if (p.x < c.x)
                            m_octree_nodes[children_idx_base + 0].pts.push_back(
                                i);
                        else
                            m_octree_nodes[children_idx_base + 1].pts.push_back(
                                i);
                    }
                    else
                    {
                        if (p.x < c.x)
                            m_octree_nodes[children_idx_base + 2].pts.push_back(
                                i);
                        else
                            m_octree_nodes[children_idx_base + 3].pts.push_back(
                                i);
                    }
                }
                else
                {
                    if (p.y < c.y)
                    {
                        if (p.x < c.x)
                            m_octree_nodes[children_idx_base + 4].pts.push_back(
                                i);
                        else
                            m_octree_nodes[children_idx_base + 5].pts.push_back(
                                i);
                    }
                    else
                    {
                        if (p.x < c.x)
                            m_octree_nodes[children_idx_base + 6].pts.push_back(
                                i);
                        else
                            m_octree_nodes[children_idx_base + 7].pts.push_back(
                                i);
                    }
                }
            }

            // Clear list of elements (they're now in our children):
            {
                std::vector<size_t> emptyVec;
                node.pts.swap(emptyVec);  // This is THE way of really clearing
                // a std::vector
            }

            // Recursive call on children:
            for (int i = 0; i < 8; i++)
                internal_recursive_split(node.child_id[i]);
        }
    }  // end of internal_recursive_split

   public:
    /** Return the number of octree nodes (all of them, including the empty
     * ones) \sa octree_get_nonempty_node_count */
    size_t octree_get_node_count() const { return m_octree_nodes.size(); }
    /** Return the number of visible octree nodes in the last render event. */
    size_t octree_get_visible_nodes() const { return m_visible_octree_nodes; }
    /** 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) */
    inline void octree_mark_as_outdated()
    {
        m_octree_has_to_rebuild_all = true;
    }

    /** Returns a graphical representation of all the bounding boxes of the
     * octree (leaf) nodes.
     * \param[in] draw_solid_boxes If false, will draw solid boxes of color \a
     * lines_color. Otherwise, wireframe boxes will be drawn.
     */
    void octree_get_graphics_boundingboxes(
        mrpt::opengl::CSetOfObjects& gl_bb, const double lines_width = 1,
        const mrpt::img::TColorf& lines_color = mrpt::img::TColorf(1, 1, 1),
        const bool draw_solid_boxes = false) const
    {
        octree_assure_uptodate();
        gl_bb.clear();
        for (size_t i = 0; i < m_octree_nodes.size(); i++)
        {
            const TNode& node = m_octree_nodes[i];
            if (!node.is_leaf) continue;
            mrpt::opengl::CBox::Ptr gl_box =
                mrpt::make_aligned_shared<mrpt::opengl::CBox>();
            gl_box->setBoxCorners(
                mrpt::math::TPoint3D(node.bb_min),
                mrpt::math::TPoint3D(node.bb_max));
            gl_box->setColor(lines_color);
            gl_box->setLineWidth(lines_width);
            gl_box->setWireframe(!draw_solid_boxes);
            gl_bb.insert(gl_box);
        }
    }

    /** Used for debug only */
    void octree_debug_dump_tree(std::ostream& o) const
    {
        o << "Octree nodes: " << m_octree_nodes.size() << std::endl;
        size_t total_elements = 0;
        for (size_t i = 0; i < m_octree_nodes.size(); i++)
        {
            const TNode& node = m_octree_nodes[i];

            o << "Node #" << i << ": ";
            if (node.is_leaf)
            {
                o << "leaf, ";
                if (node.all)
                {
                    o << "(all)\n";
                    total_elements += octree_derived().size();
                }
                else
                {
                    o << node.pts.size() << " elements; ";
                    total_elements += node.pts.size();
                }
            }
            else
            {
                o << "parent, center=(" << node.center.x << "," << node.center.y
                  << "," << node.center.z << "), children: " << node.child_id[0]
                  << "," << node.child_id[1] << "," << node.child_id[2] << ","
                  << node.child_id[3] << "," << node.child_id[4] << ","
                  << node.child_id[5] << "," << node.child_id[6] << ","
                  << node.child_id[7] << "; ";
            }
            o << " bb: (" << node.bb_min.x << "," << node.bb_min.y << ","
              << node.bb_min.z << ")-(" << node.bb_max.x << "," << node.bb_max.y
              << "," << node.bb_max.z << ")\n";
        }
        o << "Total elements in all nodes: " << total_elements << std::endl;
    }  // end of octree_debug_dump_tree

};  // end of class COctreePointRenderer

}  // namespace opengl
}  // namespace mrpt
#endif