struct mrpt::maps::COctoMapBase::TRenderingOptions

Options for the conversion of a mrpt::maps::COctoMap into a mrpt::opengl::COctoMapVoxels.

#include <mrpt/maps/COctoMapBase.h>

struct TRenderingOptions

    bool generateGridLines {            false};
    bool generateOccupiedVoxels {           true};
    bool visibleOccupiedVoxels {            true};
    bool generateFreeVoxels {true};
    bool visibleFreeVoxels {true};


    void writeToStream(mrpt::serialization::CArchive& out) const;
    void readFromStream(mrpt::serialization::CArchive& in);


bool generateGridLines {            false}

Generate grid lines for all octree nodes,.

bool generateOccupiedVoxels {           true}

useful to draw the “structure” of the octree, but computationally costly (Default: false)

Generate voxels for the occupied

bool visibleOccupiedVoxels {            true}

volumes (Default=true)

Set occupied voxels visible (requires

bool generateFreeVoxels {true}

generateOccupiedVoxels=true) (Default=true)

Generate voxels for the freespace

bool visibleFreeVoxels {true}


Set free voxels visible (requires


void writeToStream(mrpt::serialization::CArchive& out) const

Binary dump to stream.

void readFromStream(mrpt::serialization::CArchive& in)

Binary dump to stream.