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COctreePointRenderer.h File Reference
#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CBox.h>
#include <mrpt/opengl/gl_utils.h>
#include <mrpt/utils/aligned_containers.h>
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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)
 

Variables

OPENGL_IMPEXP float mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL = 0.10f
 Default value = 0.01 points/px^2. More...
 
OPENGL_IMPEXP size_t mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE = 1e6
 Default value = 1e5. More...
 

Macro Definition Documentation

#define DO_RECURSE_CHILD (   INDEX,
  SEQ0,
  SEQ1,
  SEQ2,
  SEQ3,
  SEQ4,
  SEQ5,
  SEQ6,
  SEQ7 
)
Value:
{ \
mrpt::utils::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().

#define PROJ_SUB_NODE (   POSTFIX)
Value:
float depth_##POSTFIX; \
ri.projectPointPixels( p_##POSTFIX.x, p_##POSTFIX.y, p_##POSTFIX.z, px_##POSTFIX.x,px_##POSTFIX.y,depth_##POSTFIX);
A pair (x,y) of pixel coordinates (subpixel resolution).
Definition: TPixelCoord.h:21

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

#define PROJ_SUB_NODE_ALREADY_DONE (   INDEX,
  POSTFIX 
)
Value:
const mrpt::utils::TPixelCoordf px_##POSTFIX = cr_px[INDEX]; \
float depth_##POSTFIX = cr_z[INDEX];
A pair (x,y) of pixel coordinates (subpixel resolution).
Definition: TPixelCoord.h:21

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




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