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<div class="title">COctreePointRenderer.h File Reference</div> </div>
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<div class="textblock"><code>#include <<a class="el" href="_c_renderizable_8h_source.html">mrpt/opengl/CRenderizable.h</a>></code><br/>
<code>#include <<a class="el" href="_c_set_of_objects_8h_source.html">mrpt/opengl/CSetOfObjects.h</a>></code><br/>
<code>#include <<a class="el" href="_c_box_8h_source.html">mrpt/opengl/CBox.h</a>></code><br/>
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Include dependency graph for COctreePointRenderer.h:</div>
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<div class="center"><img src="_c_octree_point_renderer_8h__incl.png" border="0" usemap="#_c_octree_point_renderer_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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<area shape="rect" id="node3" href="_c_point_cloud_8h.html" title="CPointCloud.h" alt="" coords="265,80,372,107"/><area shape="rect" id="node22" href="_c_point_cloud_coloured_8h.html" title="CPointCloudColoured.h" alt="" coords="397,80,555,107"/><area shape="rect" id="node5" href="opengl_8h.html" title="opengl.h" alt="" coords="362,155,432,181"/><area shape="rect" id="node7" href="_c_display_window3_d_8h.html" title="CDisplayWindow3D.h" alt="" coords="5,229,155,256"/><area shape="rect" id="node11" href="_c_my_g_l_canvas_base_8h.html" title="CMyGLCanvasBase.h" alt="" coords="179,229,332,256"/><area shape="rect" id="node13" href="hmtslam_8h.html" title="hmtslam.h" alt="" coords="356,229,437,256"/><area shape="rect" id="node15" href="_c_range_bearing_k_f_s_l_a_m_8h.html" title="CRangeBearingKFSLAM.h" alt="" coords="463,229,641,256"/><area shape="rect" id="node19" href="_c_range_bearing_k_f_s_l_a_m2_d_8h.html" title="CRangeBearingKFSLAM2D.h" alt="" coords="665,229,860,256"/><area shape="rect" id="node9" href="gui_8h.html" title="gui.h" alt="" coords="55,304,105,331"/><area shape="rect" id="node17" href="slam_8h.html" title="slam.h" alt="" coords="627,304,688,331"/></map>
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<p><a href="_c_octree_point_renderer_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html">mrpt::opengl::COctreePointRenderer</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Template class that implements the data structure and algorithms for Octree-based efficient rendering. <a href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html">mrpt::opengl::COctreePointRenderer::TNode</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The structure for each octree spatial node. <a href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_render_queue_element.html">mrpt::opengl::COctreePointRenderer::TRenderQueueElement</a></td></tr>
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1global__settings.html">mrpt::global_settings</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Global variables to change the run-time behaviour of some MRPT classes within mrpt-core. </p>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1opengl.html">mrpt::opengl</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>The namespace for 3D scene representation and rendering. </p>
<br/></td></tr>
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(POSTFIX)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(INDEX, POSTFIX)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(INDEX, SEQ0, SEQ1, SEQ2, SEQ3, SEQ4, SEQ5, SEQ6, SEQ7)</td></tr>
<tr><td colspan="2"><h2><a name="var-members"></a>
Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">OPENGL_IMPEXP float </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__opengl__grp.html#ga4a64958cb0a98919cc55b350699808fe">mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default value = 0.01 points/px^2. <a href="group__mrpt__opengl__grp.html#ga4a64958cb0a98919cc55b350699808fe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">OPENGL_IMPEXP size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__opengl__grp.html#ga42a2c572696602d4c4621bc80135225e">mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default value = 1e5. <a href="group__mrpt__opengl__grp.html#ga42a2c572696602d4c4621bc80135225e"></a><br/></td></tr>
</table>
<hr/><h2>Define Documentation</h2>
<a class="anchor" id="aeaf2c51a96d20fa0215f9aec0e7032b1"></a><!-- doxytag: member="COctreePointRenderer.h::DO_RECURSE_CHILD" ref="aeaf2c51a96d20fa0215f9aec0e7032b1" args="(INDEX, SEQ0, SEQ1, SEQ2, SEQ3, SEQ4, SEQ5, SEQ6, SEQ7)" -->
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<td class="memname">#define DO_RECURSE_CHILD</td>
<td>(</td>
<td class="paramtype"> </td>
<td class="paramname">INDEX, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">SEQ0, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">SEQ1, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">SEQ2, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">SEQ3, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">SEQ4, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">SEQ5, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">SEQ6, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">SEQ7 </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<b>Value:</b><div class="fragment"><pre class="fragment">{ \
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); \
}
</pre></div>
<p>Referenced by <a class="el" href="_c_octree_point_renderer_8h_source.html#l00220">mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_recursive_render()</a>.</p>
</div>
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<a class="anchor" id="a54de78e967f514d436278b0e131d701e"></a><!-- doxytag: member="COctreePointRenderer.h::PROJ_SUB_NODE" ref="a54de78e967f514d436278b0e131d701e" args="(POSTFIX)" -->
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<td class="memname">#define PROJ_SUB_NODE</td>
<td>(</td>
<td class="paramtype"> </td>
<td class="paramname">POSTFIX</td><td>)</td>
<td></td>
</tr>
</table>
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<div class="memdoc">
<b>Value:</b><div class="fragment"><pre class="fragment"><a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a> px_##POSTFIX; \
float depth_##POSTFIX; \
ri.projectPointPixels( p_##POSTFIX.x, p_##POSTFIX.y, p_##POSTFIX.z, px_##POSTFIX.x,px_##POSTFIX.y,depth_##POSTFIX);
</pre></div>
<p>Referenced by <a class="el" href="_c_octree_point_renderer_8h_source.html#l00220">mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_recursive_render()</a>.</p>
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<a class="anchor" id="af4915cbff0d523678c2d08070642eaf7"></a><!-- doxytag: member="COctreePointRenderer.h::PROJ_SUB_NODE_ALREADY_DONE" ref="af4915cbff0d523678c2d08070642eaf7" args="(INDEX, POSTFIX)" -->
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<td class="memname">#define PROJ_SUB_NODE_ALREADY_DONE</td>
<td>(</td>
<td class="paramtype"> </td>
<td class="paramname">INDEX, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">POSTFIX </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<div class="memdoc">
<b>Value:</b><div class="fragment"><pre class="fragment"><span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a> px_##POSTFIX = cr_px[INDEX]; \
float depth_##POSTFIX = cr_z[INDEX];
</pre></div>
<p>Referenced by <a class="el" href="_c_octree_point_renderer_8h_source.html#l00220">mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_recursive_render()</a>.</p>
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</div>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
