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

DO_RECURSE_CHILD

#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().

PROJ_SUB_NODE

#define PROJ_SUB_NODE

(

POSTFIX

)

Value:

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

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