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<div class="title">COctreePointRenderer.h</div> </div>
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<a href="_c_octree_point_renderer_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef opengl_COctreePointRenderer_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_COctreePointRenderer_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_renderizable_8h.html">mrpt/opengl/CRenderizable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_set_of_objects_8h.html">mrpt/opengl/CSetOfObjects.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_box_8h.html">mrpt/opengl/CBox.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>global_settings
<a name="l00039"></a>00039 {<span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment"> /** Default value = 0.01 points/px^2. Affects to these classes (read their docs for further details):</span>
<a name="l00041"></a>00041 <span class="comment"> * - mrpt::opengl::CPointCloud</span>
<a name="l00042"></a>00042 <span class="comment"> * - mrpt::opengl::CPointCloudColoured</span>
<a name="l00043"></a>00043 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a>00045 <span class="keyword">extern</span> <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <span class="keywordtype">float</span> <a class="code" href="group__mrpt__opengl__grp.html#ga4a64958cb0a98919cc55b350699808fe" title="Default value = 0.01 points/px^2.">OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL</a>;
<a name="l00046"></a>00046 <span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** Default value = 1e5. Maximum number of elements in each octree node before spliting. Affects to these classes (read their docs for further details):</span>
<a name="l00048"></a>00048 <span class="comment"> * - mrpt::opengl::CPointCloud</span>
<a name="l00049"></a>00049 <span class="comment"> * - mrpt::opengl::CPointCloudColoured</span>
<a name="l00050"></a>00050 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a>00052 <span class="keyword">extern</span> <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <span class="keywordtype">size_t</span> <a class="code" href="group__mrpt__opengl__grp.html#ga42a2c572696602d4c4621bc80135225e" title="Default value = 1e5.">OCTREE_RENDER_MAX_POINTS_PER_NODE</a>;
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="keyword">namespace </span>opengl
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Template class that implements the data structure and algorithms for Octree-based efficient rendering.</span>
<a name="l00061"></a>00061 <span class="comment"> * \sa mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, http://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points</span>
<a name="l00062"></a>00062 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a>00064 <span class="keyword">template</span> <<span class="keyword">class</span> Derived>
<a name="l00065"></a>00065 <span class="keyword">class </span>COctreePointRenderer
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** Default ctor */</span>
<a name="l00069"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#aeb39312bcb21f9c90b4a13b077c478d4">00069</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#aeb39312bcb21f9c90b4a13b077c478d4" title="Default ctor.">COctreePointRenderer</a>() :
<a name="l00070"></a>00070 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a5ac57f1f2a8d8f08ae6741da46c9f0b9">m_octree_has_to_rebuild_all</a>(true),
<a name="l00071"></a>00071 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#abf7a40869dc47c05a02e4b5cfad2f6a4">m_visible_octree_nodes</a>(0),
<a name="l00072"></a>00072 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6aa835ad817877cb040b89aae630b331">m_visible_octree_nodes_ongoing</a>(0)
<a name="l00073"></a>00073 { }
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Copy ctor */</span>
<a name="l00076"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a8c7993b497dc188c9371cd731f7f6303">00076</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#aeb39312bcb21f9c90b4a13b077c478d4" title="Default ctor.">COctreePointRenderer</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html" title="Template class that implements the data structure and algorithms for Octree-based efficient rendering...">COctreePointRenderer</a> &) :
<a name="l00077"></a>00077 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a5ac57f1f2a8d8f08ae6741da46c9f0b9">m_octree_has_to_rebuild_all</a>(true)
<a name="l00078"></a>00078 { }
<a name="l00079"></a>00079
<a name="l00080"></a>00080
<a name="l00081"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a99e36b1d4761711b9e3a65c5384dbd67a2a27a3888dc519bc2fa39d82bf140c3f">00081</a> <span class="keyword">enum</span> { <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a99e36b1d4761711b9e3a65c5384dbd67a2a27a3888dc519bc2fa39d82bf140c3f">OCTREE_ROOT_NODE</a> = 0 };
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="keyword">protected</span>:
<a name="l00084"></a>00084 <span class="comment">// Helper methods in any CRTP template</span>
<a name="l00085"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">00085</a> <span class="keyword">inline</span> Derived & <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>() { <span class="keywordflow">return</span> *<span class="keyword">static_cast<</span>Derived*<span class="keyword">></span>(<span class="keyword">this</span>); }
<a name="l00086"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6967d37a20c9dabc1670eeaa48b069fa">00086</a> <span class="keyword">inline</span> <span class="keyword">const</span> Derived & <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6967d37a20c9dabc1670eeaa48b069fa">octree_derived</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> *<span class="keyword">static_cast<</span><span class="keyword">const </span>Derived*<span class="keyword">></span>(<span class="keyword">this</span>); }
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Must be called at children class' render() previously to \a octree_render() */</span>
<a name="l00089"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad17579453783a60bc9083b55ece20878">00089</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad17579453783a60bc9083b55ece20878" title="Must be called at children class' render() previously to octree_render() ">octree_assure_uptodate</a>()<span class="keyword"> const</span>
<a name="l00090"></a>00090 <span class="keyword"> </span>{
<a name="l00091"></a>00091 <span class="keyword">const_cast<</span><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html" title="Template class that implements the data structure and algorithms for Octree-based efficient rendering...">COctreePointRenderer<Derived></a>*<span class="keyword">></span>(<span class="keyword">this</span>)-><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6cc60748fe9e4a3244ba02f8db032a41">internal_octree_assure_uptodate</a>();
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Render the entire octree recursively.</span>
<a name="l00095"></a>00095 <span class="comment"> * Should be called from children's render() method.</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#aacbe51a067db75dcb1f9cef10a18417b">00097</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#aacbe51a067db75dcb1f9cef10a18417b" title="Render the entire octree recursively.">octree_render</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1gl__utils_1_1_t_render_info.html" title="Information about the rendering process being issued.">mrpt::opengl::gl_utils::TRenderInfo</a> &ri )<span class="keyword"> const</span>
<a name="l00098"></a>00098 <span class="keyword"> </span>{
<a name="l00099"></a>00099 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6aa835ad817877cb040b89aae630b331">m_visible_octree_nodes_ongoing</a> = 0;
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="comment">// Stage 1: Build list of visible octrees</span>
<a name="l00102"></a>00102 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad991caa8577147e36a44b3bc75e9b069" title="The list of elements that really are visible and will be rendered.">m_render_queue</a>.clear();
<a name="l00103"></a>00103 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad991caa8577147e36a44b3bc75e9b069" title="The list of elements that really are visible and will be rendered.">m_render_queue</a>.reserve(<a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>.size());
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <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> cr_px[8];
<a name="l00106"></a>00106 <span class="keywordtype">float</span> cr_z[8];
<a name="l00107"></a>00107 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a70f6da062de75bac406c661aa730279b" title="Render a given node.">octree_recursive_render</a>(<a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a99e36b1d4761711b9e3a65c5384dbd67a2a27a3888dc519bc2fa39d82bf140c3f">OCTREE_ROOT_NODE</a>,ri, cr_px, cr_z, <span class="keyword">false</span> <span class="comment">/* corners are not computed for this first iteration */</span> );
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#abf7a40869dc47c05a02e4b5cfad2f6a4">m_visible_octree_nodes</a> = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6aa835ad817877cb040b89aae630b331">m_visible_octree_nodes_ongoing</a>;
<a name="l00110"></a>00110
<a name="l00111"></a>00111 <span class="comment">// Stage 2: Render them all</span>
<a name="l00112"></a>00112 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<<a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad991caa8577147e36a44b3bc75e9b069" title="The list of elements that really are visible and will be rendered.">m_render_queue</a>.size();i++)
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 <span class="keyword">const</span> TNode & node = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[ <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad991caa8577147e36a44b3bc75e9b069" title="The list of elements that really are visible and will be rendered.">m_render_queue</a>[i].node_id ];
<a name="l00115"></a>00115 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>().render_subset( node.all,node.pts,m_render_queue[i].render_area_sqpixels);
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment"> /** The structure for each octree spatial node. Each node can either be a leaf of has 8 children nodes.</span>
<a name="l00122"></a>00122 <span class="comment"> * Instead of pointers, children are referenced by their indices in \a m_octree_nodes</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a>00124 <span class="keyword">struct </span><a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> TNode
<a name="l00125"></a>00125 {
<a name="l00126"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a570c6247504fe0a8051236f0bd3c9625">00126</a> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html" title="The structure for each octree spatial node.">TNode</a>() :
<a name="l00127"></a>00127 bb_min( std::numeric_limits<float>::max(), std::numeric_limits<float>::max(), std::numeric_limits<float>::max() ),
<a name="l00128"></a>00128 bb_max(-std::numeric_limits<float>::max(),-std::numeric_limits<float>::max(),-std::numeric_limits<float>::max() )
<a name="l00129"></a>00129 { }
<a name="l00130"></a>00130
<a name="l00131"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a2b198abbbba4213ef30316fee3b874e8">00131</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a2b198abbbba4213ef30316fee3b874e8" title="true: it's a leaf and pts has valid indices; false: children is valid.">is_leaf</a>; <span class="comment">//!< true: it's a leaf and \a pts has valid indices; false: \a children is valid.</span>
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment">// In all cases, the bounding_box:</span>
<a name="l00134"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">00134</a> mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">::math::TPoint3Df</a> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>, bb_max;
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">// Fields used if is_leaf=true</span>
<a name="l00137"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a166c2be7e233c468fecc40e3fd0cd6ce">00137</a> std<a class="code" href="classstd_1_1vector.html">::vector<size_t></a> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a166c2be7e233c468fecc40e3fd0cd6ce" title="Point indices in the derived class that fall into this node.">pts</a>; <span class="comment">//!< Point indices in the derived class that fall into this node.</span>
<a name="l00138"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a218468ff296bfc70c66455db2098de66">00138</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a218468ff296bfc70c66455db2098de66" title="true: All elements in the reference object; false: only those in pts ">all</a>; <span class="comment">//!< true: All elements in the reference object; false: only those in \a pts</span>
<a name="l00139"></a>00139 <span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment">// Fields used if is_leaf=false</span>
<a name="l00141"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210">00141</a> mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">::math::TPoint3Df</a> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>; <span class="comment">//!< [is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children nodes.</span>
<a name="l00142"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#af62a218e500016136f1b7efe44c26bc0">00142</a> <span class="comment"></span> <span class="keywordtype">size_t</span> child_id[8]; <span class="comment">//!< [is_leaf=false] The indices in \a m_octree_nodes of the 8 children.</span>
<a name="l00143"></a>00143 <span class="comment"></span><span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** update bounding box with a new point: */</span>
<a name="l00145"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a0676d85a9a00946758c421e615e163a9">00145</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> update_bb(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">mrpt::math::TPoint3Df</a> &p)
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 <a class="code" href="namespacemrpt_1_1utils.html#af67043bb92287af7092e91db2d6a1f19" title="If the second argument is below the first one, set the first argument to this lower value...">keep_min</a>(bb_min.x, p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>); <a class="code" href="namespacemrpt_1_1utils.html#af67043bb92287af7092e91db2d6a1f19" title="If the second argument is below the first one, set the first argument to this lower value...">keep_min</a>(bb_min.y, p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>); <a class="code" href="namespacemrpt_1_1utils.html#af67043bb92287af7092e91db2d6a1f19" title="If the second argument is below the first one, set the first argument to this lower value...">keep_min</a>(bb_min.z, p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>);
<a name="l00148"></a>00148 <a class="code" href="namespacemrpt_1_1utils.html#a3aaae8d44cd44b2e3d93e42644454589" title="If the second argument is above the first one, set the first argument to this higher value...">keep_max</a>(bb_max.x, p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>); <a class="code" href="namespacemrpt_1_1utils.html#a3aaae8d44cd44b2e3d93e42644454589" title="If the second argument is above the first one, set the first argument to this higher value...">keep_max</a>(bb_max.y, p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>); <a class="code" href="namespacemrpt_1_1utils.html#a3aaae8d44cd44b2e3d93e42644454589" title="If the second argument is above the first one, set the first argument to this higher value...">keep_max</a>(bb_max.z, p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>);
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150
<a name="l00151"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#acfa8ab03e287bf422492af19320be214">00151</a> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#acfa8ab03e287bf422492af19320be214">getCornerX</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (i & 0x01)==0 ? bb_min.x : bb_max.x; }
<a name="l00152"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a5f4fa110049b2febd27c80ef8698e8d8">00152</a> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a5f4fa110049b2febd27c80ef8698e8d8">getCornerY</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (i & 0x02)==0 ? bb_min.y : bb_max.y; }
<a name="l00153"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#ab20d24706d6c11a6d77c0c7e9f442517">00153</a> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#ab20d24706d6c11a6d77c0c7e9f442517">getCornerZ</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (i & 0x04)==0 ? bb_min.z : bb_max.z; }
<a name="l00154"></a>00154
<a name="l00155"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a1b2bf04f102506d40c2c797210f6b337">00155</a> <span class="keywordtype">void</span> setBBFromOrderInParent(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html" title="The structure for each octree spatial node.">TNode</a> &parent, <span class="keywordtype">int</span> my_child_index)
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157 <span class="comment">// Coordinate signs are relative to the parent center (split point):</span>
<a name="l00158"></a>00158 <span class="keywordflow">switch</span> (my_child_index)
<a name="l00159"></a>00159 {
<a name="l00160"></a>00160 <span class="keywordflow">case</span> 0: <span class="comment">// x-, y-, z-</span>
<a name="l00161"></a>00161 bb_min = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>;
<a name="l00162"></a>00162 bb_max = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>;
<a name="l00163"></a>00163 <span class="keywordflow">break</span>;
<a name="l00164"></a>00164 <span class="keywordflow">case</span> 1: <span class="comment">// x+, y-, z-</span>
<a name="l00165"></a>00165 bb_min.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a> = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>; bb_max.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>;
<a name="l00166"></a>00166 bb_min.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>; bb_max.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>;
<a name="l00167"></a>00167 bb_min.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>; bb_max.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>;
<a name="l00168"></a>00168 <span class="keywordflow">break</span>;
<a name="l00169"></a>00169 <span class="keywordflow">case</span> 2: <span class="comment">// x-, y+, z-</span>
<a name="l00170"></a>00170 bb_min.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>; bb_max.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>;
<a name="l00171"></a>00171 bb_min.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>; bb_max.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>;
<a name="l00172"></a>00172 bb_min.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>; bb_max.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>;
<a name="l00173"></a>00173 <span class="keywordflow">break</span>;
<a name="l00174"></a>00174 <span class="keywordflow">case</span> 3: <span class="comment">// x+, y+, z-</span>
<a name="l00175"></a>00175 bb_min.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>; bb_max.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>;
<a name="l00176"></a>00176 bb_min.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>; bb_max.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>;
<a name="l00177"></a>00177 bb_min.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>; bb_max.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>;
<a name="l00178"></a>00178 <span class="keywordflow">break</span>;
<a name="l00179"></a>00179 <span class="keywordflow">case</span> 4: <span class="comment">// x-, y-, z+</span>
<a name="l00180"></a>00180 bb_min.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>; bb_max.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>;
<a name="l00181"></a>00181 bb_min.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>; bb_max.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>;
<a name="l00182"></a>00182 bb_min.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>; bb_max.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>;
<a name="l00183"></a>00183 <span class="keywordflow">break</span>;
<a name="l00184"></a>00184 <span class="keywordflow">case</span> 5: <span class="comment">// x+, y-, z+</span>
<a name="l00185"></a>00185 bb_min.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>; bb_max.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>;
<a name="l00186"></a>00186 bb_min.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>; bb_max.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>;
<a name="l00187"></a>00187 bb_min.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>; bb_max.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>;
<a name="l00188"></a>00188 <span class="keywordflow">break</span>;
<a name="l00189"></a>00189 <span class="keywordflow">case</span> 6: <span class="comment">// x-, y+, z+</span>
<a name="l00190"></a>00190 bb_min.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#adac3a9f205bf1066f7680c3c8f91c2f8">bb_min</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>; bb_max.x = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>;
<a name="l00191"></a>00191 bb_min.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>; bb_max.y = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>;
<a name="l00192"></a>00192 bb_min.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>; bb_max.z = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>;
<a name="l00193"></a>00193 <span class="keywordflow">break</span>;
<a name="l00194"></a>00194 <span class="keywordflow">case</span> 7: <span class="comment">// x+, y+, z+</span>
<a name="l00195"></a>00195 bb_min = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a46c55e3473ceb35630c627f37cf7e210" title="[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children n...">center</a>;
<a name="l00196"></a>00196 bb_max = parent.<a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_node.html#a7590e3ce5afdbda71927c558a9c07a03">bb_max</a>;
<a name="l00197"></a>00197 <span class="keywordflow">break</span>;
<a name="l00198"></a>00198 <span class="keywordflow">default</span>: <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a>(<span class="stringliteral">"my_child_index!=[0,7]"</span>);
<a name="l00199"></a>00199 }
<a name="l00200"></a>00200 }
<a name="l00201"></a>00201 };
<a name="l00202"></a>00202
<a name="l00203"></a>00203 <span class="keyword">struct </span><a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> TRenderQueueElement
<a name="l00204"></a>00204 {
<a name="l00205"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_render_queue_element.html#a6e7dbf1f9f9f0101818ded1f7d542826">00205</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_render_queue_element.html#a6e7dbf1f9f9f0101818ded1f7d542826">TRenderQueueElement</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> <span class="keywordtype">id</span>, <span class="keywordtype">float</span> area_sq) : node_id(id), render_area_sqpixels(area_sq) { }
<a name="l00206"></a>00206
<a name="l00207"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_render_queue_element.html#a7355f86b0d6633c19ea857d8bedee5bd">00207</a> <span class="keywordtype">size_t</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_render_queue_element.html#a7355f86b0d6633c19ea857d8bedee5bd" title="The node ID to render.">node_id</a>; <span class="comment">//!< The node ID to render</span>
<a name="l00208"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_render_queue_element.html#a384c885bedd0ff7fff7258c4bc9f0222">00208</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_octree_point_renderer_1_1_t_render_queue_element.html#a384c885bedd0ff7fff7258c4bc9f0222" title="The approximate size of the octree on the screen (squared pixels).">render_area_sqpixels</a>; <span class="comment">//!< The approximate size of the octree on the screen (squared pixels).</span>
<a name="l00209"></a>00209 <span class="comment"></span> };
<a name="l00210"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad991caa8577147e36a44b3bc75e9b069">00210</a> <span class="keyword">mutable</span> std<a class="code" href="classstd_1_1vector.html">::vector<TRenderQueueElement></a> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad991caa8577147e36a44b3bc75e9b069" title="The list of elements that really are visible and will be rendered.">m_render_queue</a>; <span class="comment">//!< The list of elements that really are visible and will be rendered.</span>
<a name="l00211"></a>00211 <span class="comment"></span>
<a name="l00212"></a>00212
<a name="l00213"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a5ac57f1f2a8d8f08ae6741da46c9f0b9">00213</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a5ac57f1f2a8d8f08ae6741da46c9f0b9">m_octree_has_to_rebuild_all</a>;
<a name="l00214"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919">00214</a> std<a class="code" href="classstd_1_1deque.html">::deque<TNode></a> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>; <span class="comment">//!< First one [0] is always the root node</span>
<a name="l00215"></a>00215 <span class="comment"></span>
<a name="l00216"></a>00216 <span class="comment">// Counters of visible octrees for each render:</span>
<a name="l00217"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6aa835ad817877cb040b89aae630b331">00217</a> <span class="keyword">volatile</span> <span class="keyword">mutable</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#abf7a40869dc47c05a02e4b5cfad2f6a4">m_visible_octree_nodes</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6aa835ad817877cb040b89aae630b331">m_visible_octree_nodes_ongoing</a>;
<a name="l00218"></a>00218 <span class="comment"></span>
<a name="l00219"></a>00219 <span class="comment"> /** Render a given node. */</span>
<a name="l00220"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a70f6da062de75bac406c661aa730279b">00220</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a70f6da062de75bac406c661aa730279b" title="Render a given node.">octree_recursive_render</a>(
<a name="l00221"></a>00221 <span class="keywordtype">size_t</span> node_idx,
<a name="l00222"></a>00222 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1gl__utils_1_1_t_render_info.html" title="Information about the rendering process being issued.">mrpt::opengl::gl_utils::TRenderInfo</a> &ri,
<a name="l00223"></a>00223 <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> cr_px[8],
<a name="l00224"></a>00224 <span class="keywordtype">float</span> cr_z[8],
<a name="l00225"></a>00225 <span class="keywordtype">bool</span> corners_are_all_computed = <span class="keyword">true</span>,
<a name="l00226"></a>00226 <span class="keywordtype">bool</span> trust_me_youre_visible = <span class="keyword">false</span>,
<a name="l00227"></a>00227 <span class="keywordtype">float</span> approx_area_sqpixels = 0
<a name="l00228"></a>00228 )<span class="keyword"> const</span>
<a name="l00229"></a>00229 <span class="keyword"> </span>{
<a name="l00230"></a>00230 <span class="keyword">const</span> TNode &node = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[node_idx];
<a name="l00231"></a>00231
<a name="l00232"></a>00232 <span class="keywordflow">if</span> (!corners_are_all_computed)
<a name="l00233"></a>00233 {
<a name="l00234"></a>00234 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<8;i++)
<a name="l00235"></a>00235 {
<a name="l00236"></a>00236 <span class="comment">// project point:</span>
<a name="l00237"></a>00237 ri.<a class="code" href="structmrpt_1_1opengl_1_1gl__utils_1_1_t_render_info.html#a1bb3cac4455a3f8e6e912c596fb168ff" title="Exactly like projectPoint but the (x,y) projected coordinates are given in pixels instead of normaliz...">projectPointPixels</a>(
<a name="l00238"></a>00238 node.getCornerX(i),node.getCornerY(i),node.getCornerZ(i),
<a name="l00239"></a>00239 cr_px[i].<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#a5b455008c5b13746df6592727a60e3fb">x</a>,cr_px[i].<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a>,cr_z[i]);
<a name="l00240"></a>00240 }
<a name="l00241"></a>00241 }
<a name="l00242"></a>00242
<a name="l00243"></a>00243 <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_min( std::numeric_limits<float>::max(),std::numeric_limits<float>::max()), px_max(-std::numeric_limits<float>::max(),-std::numeric_limits<float>::max());
<a name="l00244"></a>00244 <span class="keywordflow">if</span> (!trust_me_youre_visible)
<a name="l00245"></a>00245 {
<a name="l00246"></a>00246 <span class="comment">// Keep the on-screen bounding box of this node:</span>
<a name="l00247"></a>00247 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<8;i++)
<a name="l00248"></a>00248 {
<a name="l00249"></a>00249 <a class="code" href="namespacemrpt_1_1utils.html#af67043bb92287af7092e91db2d6a1f19" title="If the second argument is below the first one, set the first argument to this lower value...">keep_min</a>(px_min.x,cr_px[i].<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#a5b455008c5b13746df6592727a60e3fb">x</a>); <a class="code" href="namespacemrpt_1_1utils.html#af67043bb92287af7092e91db2d6a1f19" title="If the second argument is below the first one, set the first argument to this lower value...">keep_min</a>(px_min.y,cr_px[i].<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a>);
<a name="l00250"></a>00250 <a class="code" href="namespacemrpt_1_1utils.html#a3aaae8d44cd44b2e3d93e42644454589" title="If the second argument is above the first one, set the first argument to this higher value...">keep_max</a>(px_max.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#a5b455008c5b13746df6592727a60e3fb">x</a>,cr_px[i].<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#a5b455008c5b13746df6592727a60e3fb">x</a>); <a class="code" href="namespacemrpt_1_1utils.html#a3aaae8d44cd44b2e3d93e42644454589" title="If the second argument is above the first one, set the first argument to this higher value...">keep_max</a>(px_max.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a>,cr_px[i].<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a>);
<a name="l00251"></a>00251 }
<a name="l00252"></a>00252
<a name="l00253"></a>00253 <span class="keyword">const</span> <span class="keywordtype">bool</span> 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);
<a name="l00254"></a>00254 <span class="keyword">const</span> <span class="keywordtype">bool</span> 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);
<a name="l00255"></a>00255 <span class="keyword">const</span> <span class="keywordtype">bool</span> box_crosses_image_plane = any_cr_zs_pos && any_cr_zs_neg;
<a name="l00256"></a>00256
<a name="l00257"></a>00257 <span class="comment">// If all 8 corners are way out of the screen (and all "cr_z" have the same sign),</span>
<a name="l00258"></a>00258 <span class="comment">// this node and all the children are not visible:</span>
<a name="l00259"></a>00259 <span class="keywordflow">if</span> (!box_crosses_image_plane && ( px_min.x>=ri.<a class="code" href="structmrpt_1_1opengl_1_1gl__utils_1_1_t_render_info.html#a0ee3e721299a600fadfb2a1a9c0a4029">vp_width</a> || px_min.y>=ri.<a class="code" href="structmrpt_1_1opengl_1_1gl__utils_1_1_t_render_info.html#a8f199393332006e1a6669cb61d9a1255" title="Rendering viewport geometry (in pixels)">vp_height</a> || px_max.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#a5b455008c5b13746df6592727a60e3fb">x</a><0 || px_max.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a><0) )
<a name="l00260"></a>00260 <span class="keywordflow">return</span>; <span class="comment">// Not visible</span>
<a name="l00261"></a>00261 }
<a name="l00262"></a>00262
<a name="l00263"></a>00263 <span class="comment">// Check if the node has points and is visible:</span>
<a name="l00264"></a>00264 <span class="keywordflow">if</span> (node.is_leaf)
<a name="l00265"></a>00265 { <span class="comment">// Render this leaf node:</span>
<a name="l00266"></a>00266 <span class="keywordflow">if</span> (node.all || !node.pts.empty())
<a name="l00267"></a>00267 {
<a name="l00268"></a>00268 <span class="comment">// If we are here, it seems at least a part of the Box is visible:</span>
<a name="l00269"></a>00269 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6aa835ad817877cb040b89aae630b331">m_visible_octree_nodes_ongoing</a>++;
<a name="l00270"></a>00270
<a name="l00271"></a>00271 <span class="keyword">const</span> <span class="keywordtype">float</span> render_area_sqpixels = trust_me_youre_visible ?
<a name="l00272"></a>00272 approx_area_sqpixels
<a name="l00273"></a>00273 :
<a name="l00274"></a>00274 <a class="code" href="group__metric__grp.html#gaf15608f8914516f8d949a8c053d55021">std::abs</a>(px_min.x-px_max.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#a5b455008c5b13746df6592727a60e3fb">x</a>) * <a class="code" href="group__metric__grp.html#gaf15608f8914516f8d949a8c053d55021">std::abs</a>(px_min.y-px_max.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a>);
<a name="l00275"></a>00275
<a name="l00276"></a>00276 <span class="comment">// OK: Add to list of rendering-pending:</span>
<a name="l00277"></a>00277 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad991caa8577147e36a44b3bc75e9b069" title="The list of elements that really are visible and will be rendered.">m_render_queue</a>.push_back( TRenderQueueElement(node_idx,render_area_sqpixels) );
<a name="l00278"></a>00278 }
<a name="l00279"></a>00279 }
<a name="l00280"></a>00280 <span class="keywordflow">else</span>
<a name="l00281"></a>00281 { <span class="comment">// Render children nodes:</span>
<a name="l00282"></a>00282 <span class="comment">// If ALL my 8 corners are within the screen, tell our children that they</span>
<a name="l00283"></a>00283 <span class="comment">// won't need to compute anymore, since all of them and their children are visible as well:</span>
<a name="l00284"></a>00284 <span class="keywordtype">bool</span> children_are_all_visible_for_sure = <span class="keyword">true</span>;
<a name="l00285"></a>00285
<a name="l00286"></a>00286 <span class="keywordflow">if</span> (!trust_me_youre_visible) <span class="comment">// Trust my parent... otherwise:</span>
<a name="l00287"></a>00287 {
<a name="l00288"></a>00288 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<8;i++)
<a name="l00289"></a>00289 {
<a name="l00290"></a>00290 <span class="keywordflow">if</span> (!( cr_px[i].x>=0 && cr_px[i].<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>>=0 && cr_px[i].x<ri.<a class="code" href="structmrpt_1_1opengl_1_1gl__utils_1_1_t_render_info.html#a0ee3e721299a600fadfb2a1a9c0a4029">vp_width</a> && cr_px[i].<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a><ri.<a class="code" href="structmrpt_1_1opengl_1_1gl__utils_1_1_t_render_info.html#a8f199393332006e1a6669cb61d9a1255" title="Rendering viewport geometry (in pixels)">vp_height</a> ))
<a name="l00291"></a>00291 {
<a name="l00292"></a>00292 children_are_all_visible_for_sure = <span class="keyword">false</span>;
<a name="l00293"></a>00293 <span class="keywordflow">break</span>;
<a name="l00294"></a>00294 }
<a name="l00295"></a>00295 }
<a name="l00296"></a>00296 }
<a name="l00297"></a>00297
<a name="l00298"></a>00298 <span class="comment">// If all children are visible, it's easy:</span>
<a name="l00299"></a>00299 <span class="keywordflow">if</span> (children_are_all_visible_for_sure)
<a name="l00300"></a>00300 {
<a name="l00301"></a>00301 <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> child_cr_px[8]; <span class="comment">// No need to initialize</span>
<a name="l00302"></a>00302 <span class="keywordtype">float</span> child_cr_z[8]; <span class="comment">// No need to initialize</span>
<a name="l00303"></a>00303
<a name="l00304"></a>00304 <span class="comment">// Approximate area of the children nodes:</span>
<a name="l00305"></a>00305 <span class="keyword">const</span> <span class="keywordtype">float</span> approx_child_area = trust_me_youre_visible ?
<a name="l00306"></a>00306 approx_area_sqpixels/8.0f
<a name="l00307"></a>00307 :
<a name="l00308"></a>00308 <a class="code" href="group__metric__grp.html#gaf15608f8914516f8d949a8c053d55021">std::abs</a>(px_min.x-px_max.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#a5b455008c5b13746df6592727a60e3fb">x</a>) * <a class="code" href="group__metric__grp.html#gaf15608f8914516f8d949a8c053d55021">std::abs</a>(px_min.y-px_max.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a>) / 8.0f;
<a name="l00309"></a>00309
<a name="l00310"></a>00310 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<8;i++)
<a name="l00311"></a>00311 this-><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a70f6da062de75bac406c661aa730279b" title="Render a given node.">octree_recursive_render</a>(node.child_id[i],ri,child_cr_px, child_cr_z, <span class="keyword">true</span>, <span class="keyword">true</span>, approx_child_area); \
<a name="l00312"></a>00312 }
<a name="l00313"></a>00313 <span class="keywordflow">else</span>
<a name="l00314"></a>00314 {
<a name="l00315"></a>00315 <span class="comment">// Precompute the 19 (3*9-8) intermediary points so children don't have to compute them several times:</span>
<a name="l00316"></a>00316 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Ym_Zm ( node.bb_min.x, node.bb_min.y, node.bb_min.z ); <span class="comment">// 0</span>
<a name="l00317"></a>00317 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Ym_Zm ( node.center.x, node.bb_min.y, node.bb_min.z );
<a name="l00318"></a>00318 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Ym_Zm ( node.bb_max.x, node.bb_min.y, node.bb_min.z ); <span class="comment">// 1</span>
<a name="l00319"></a>00319 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Y0_Zm ( node.bb_min.x, node.center.y, node.bb_min.z );
<a name="l00320"></a>00320 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Y0_Zm ( node.center.x, node.center.y, node.bb_min.z );
<a name="l00321"></a>00321 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Y0_Zm ( node.bb_max.x, node.center.y, node.bb_min.z );
<a name="l00322"></a>00322 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Yp_Zm ( node.bb_min.x, node.bb_max.y, node.bb_min.z ); <span class="comment">// 2</span>
<a name="l00323"></a>00323 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Yp_Zm ( node.center.x, node.bb_max.y, node.bb_min.z );
<a name="l00324"></a>00324 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Yp_Zm ( node.bb_max.x, node.bb_max.y, node.bb_min.z ); <span class="comment">// 3</span>
<a name="l00325"></a>00325
<a name="l00326"></a>00326 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Ym_Z0 ( node.bb_min.x, node.bb_min.y, node.center.z );
<a name="l00327"></a>00327 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Ym_Z0 ( node.center.x, node.bb_min.y, node.center.z );
<a name="l00328"></a>00328 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Ym_Z0 ( node.bb_max.x, node.bb_min.y, node.center.z );
<a name="l00329"></a>00329 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Y0_Z0 ( node.bb_min.x, node.center.y, node.center.z );
<a name="l00330"></a>00330 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Y0_Z0 ( node.center.x, node.center.y, node.center.z );
<a name="l00331"></a>00331 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Y0_Z0 ( node.bb_max.x, node.center.y, node.center.z );
<a name="l00332"></a>00332 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Yp_Z0 ( node.bb_min.x, node.bb_max.y, node.center.z );
<a name="l00333"></a>00333 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Yp_Z0 ( node.center.x, node.bb_max.y, node.center.z );
<a name="l00334"></a>00334 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Yp_Z0 ( node.bb_max.x, node.bb_max.y, node.center.z );
<a name="l00335"></a>00335
<a name="l00336"></a>00336 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Ym_Zp ( node.bb_min.x, node.bb_min.y, node.bb_max.z ); <span class="comment">// 4</span>
<a name="l00337"></a>00337 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Ym_Zp ( node.center.x, node.bb_min.y, node.bb_max.z );
<a name="l00338"></a>00338 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Ym_Zp ( node.bb_min.x, node.bb_min.y, node.bb_max.z ); <span class="comment">// 5</span>
<a name="l00339"></a>00339 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Y0_Zp ( node.bb_min.x, node.center.y, node.bb_max.z );
<a name="l00340"></a>00340 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Y0_Zp ( node.center.x, node.center.y, node.bb_max.z );
<a name="l00341"></a>00341 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Y0_Zp ( node.bb_max.x, node.center.y, node.bb_max.z );
<a name="l00342"></a>00342 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xm_Yp_Zp ( node.bb_min.x, node.bb_max.y, node.bb_max.z ); <span class="comment">// 6</span>
<a name="l00343"></a>00343 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_X0_Yp_Zp ( node.center.x, node.bb_max.y, node.bb_max.z );
<a name="l00344"></a>00344 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p_Xp_Yp_Zp ( node.bb_max.x, node.bb_max.y, node.bb_max.z ); <span class="comment">// 7</span>
<a name="l00345"></a>00345
<a name="l00346"></a>00346 <span class="comment">// Project all these points:</span>
<a name="l00347"></a>00347 <span class="preprocessor">#define PROJ_SUB_NODE(POSTFIX) \</span>
<a name="l00348"></a>00348 <span class="preprocessor"> TPixelCoordf px_##POSTFIX; \</span>
<a name="l00349"></a>00349 <span class="preprocessor"> float depth_##POSTFIX; \</span>
<a name="l00350"></a>00350 <span class="preprocessor"> ri.projectPointPixels( p_##POSTFIX.x, p_##POSTFIX.y, p_##POSTFIX.z, px_##POSTFIX.x,px_##POSTFIX.y,depth_##POSTFIX);</span>
<a name="l00351"></a>00351 <span class="preprocessor"></span>
<a name="l00352"></a>00352 <span class="preprocessor">#define PROJ_SUB_NODE_ALREADY_DONE(INDEX, POSTFIX) \</span>
<a name="l00353"></a>00353 <span class="preprocessor"> const TPixelCoordf px_##POSTFIX = cr_px[INDEX]; \</span>
<a name="l00354"></a>00354 <span class="preprocessor"> float depth_##POSTFIX = cr_z[INDEX];</span>
<a name="l00355"></a>00355 <span class="preprocessor"></span>
<a name="l00356"></a>00356 <a class="code" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(0,Xm_Ym_Zm)
<a name="l00357"></a>00357 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Ym_Zm)
<a name="l00358"></a>00358 <a class="code" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(1, Xp_Ym_Zm)
<a name="l00359"></a>00359
<a name="l00360"></a>00360 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xm_Y0_Zm)
<a name="l00361"></a>00361 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Y0_Zm)
<a name="l00362"></a>00362 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xp_Y0_Zm)
<a name="l00363"></a>00363
<a name="l00364"></a>00364 <a class="code" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(2, Xm_Yp_Zm)
<a name="l00365"></a>00365 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Yp_Zm)
<a name="l00366"></a>00366 <a class="code" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(3, Xp_Yp_Zm)
<a name="l00367"></a>00367
<a name="l00368"></a>00368 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xm_Ym_Z0)
<a name="l00369"></a>00369 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Ym_Z0)
<a name="l00370"></a>00370 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xp_Ym_Z0)
<a name="l00371"></a>00371 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xm_Y0_Z0)
<a name="l00372"></a>00372 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Y0_Z0)
<a name="l00373"></a>00373 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xp_Y0_Z0)
<a name="l00374"></a>00374 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xm_Yp_Z0)
<a name="l00375"></a>00375 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Yp_Z0)
<a name="l00376"></a>00376 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xp_Yp_Z0)
<a name="l00377"></a>00377
<a name="l00378"></a>00378 <a class="code" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(4, Xm_Ym_Zp)
<a name="l00379"></a>00379 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Ym_Zp)
<a name="l00380"></a>00380 <a class="code" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(5, Xp_Ym_Zp)
<a name="l00381"></a>00381
<a name="l00382"></a>00382 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xm_Y0_Zp)
<a name="l00383"></a>00383 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Y0_Zp)
<a name="l00384"></a>00384 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(Xp_Y0_Zp)
<a name="l00385"></a>00385
<a name="l00386"></a>00386 <a class="code" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(6, Xm_Yp_Zp)
<a name="l00387"></a>00387 <a class="code" href="_c_octree_point_renderer_8h.html#a54de78e967f514d436278b0e131d701e">PROJ_SUB_NODE</a>(X0_Yp_Zp)
<a name="l00388"></a>00388 <a class="code" href="_c_octree_point_renderer_8h.html#af4915cbff0d523678c2d08070642eaf7">PROJ_SUB_NODE_ALREADY_DONE</a>(7, Xp_Yp_Zp)
<a name="l00389"></a>00389
<a name="l00390"></a>00390 <span class="comment">// Recursive call children nodes:</span>
<a name="l00391"></a>00391 <span class="preprocessor">#define DO_RECURSE_CHILD(INDEX, SEQ0,SEQ1,SEQ2,SEQ3,SEQ4,SEQ5,SEQ6,SEQ7) \</span>
<a name="l00392"></a>00392 <span class="preprocessor"> { \</span>
<a name="l00393"></a>00393 <span class="preprocessor"> TPixelCoordf child_cr_px[8] = { px_##SEQ0,px_##SEQ1,px_##SEQ2,px_##SEQ3,px_##SEQ4,px_##SEQ5,px_##SEQ6,px_##SEQ7 }; \</span>
<a name="l00394"></a>00394 <span class="preprocessor"> float child_cr_z[8] = { depth_##SEQ0,depth_##SEQ1,depth_##SEQ2,depth_##SEQ3,depth_##SEQ4,depth_##SEQ5,depth_##SEQ6,depth_##SEQ7 }; \</span>
<a name="l00395"></a>00395 <span class="preprocessor"> this->octree_recursive_render(node.child_id[INDEX],ri,child_cr_px, child_cr_z); \</span>
<a name="l00396"></a>00396 <span class="preprocessor"> }</span>
<a name="l00397"></a>00397 <span class="preprocessor"></span>
<a name="l00398"></a>00398 <span class="comment">// 0 1 2 3 4 5 6 7</span>
<a name="l00399"></a>00399 <a class="code" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(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 )
<a name="l00400"></a>00400 <a class="code" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(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 )
<a name="l00401"></a>00401 <a class="code" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(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 )
<a name="l00402"></a>00402 <a class="code" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(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 )
<a name="l00403"></a>00403 <a class="code" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(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 )
<a name="l00404"></a>00404 <a class="code" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(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 )
<a name="l00405"></a>00405 <a class="code" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(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 )
<a name="l00406"></a>00406 <a class="code" href="_c_octree_point_renderer_8h.html#aeaf2c51a96d20fa0215f9aec0e7032b1">DO_RECURSE_CHILD</a>(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 )
<a name="l00407"></a>00407 <span class="preprocessor">#undef DO_RECURSE_CHILD</span>
<a name="l00408"></a>00408 <span class="preprocessor"></span><span class="preprocessor">#undef PROJ_SUB_NODE</span>
<a name="l00409"></a>00409 <span class="preprocessor"></span><span class="preprocessor">#undef PROJ_SUB_NODE_ALREADY_DONE</span>
<a name="l00410"></a>00410 <span class="preprocessor"></span> } <span class="comment">// end "children_are_all_visible_for_sure"=false</span>
<a name="l00411"></a>00411 }
<a name="l00412"></a>00412 }
<a name="l00413"></a>00413
<a name="l00414"></a>00414 <span class="comment">// The actual implementation (and non-const version) of octree_assure_uptodate()</span>
<a name="l00415"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6cc60748fe9e4a3244ba02f8db032a41">00415</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a6cc60748fe9e4a3244ba02f8db032a41">internal_octree_assure_uptodate</a>()
<a name="l00416"></a>00416 {
<a name="l00417"></a>00417 <span class="keywordflow">if</span> (!<a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a5ac57f1f2a8d8f08ae6741da46c9f0b9">m_octree_has_to_rebuild_all</a>) <span class="keywordflow">return</span>;
<a name="l00418"></a>00418 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a5ac57f1f2a8d8f08ae6741da46c9f0b9">m_octree_has_to_rebuild_all</a> = <span class="keyword">false</span>;
<a name="l00419"></a>00419
<a name="l00420"></a>00420 <span class="comment">// Reset list of nodes:</span>
<a name="l00421"></a>00421 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>.assign(1, TNode() );
<a name="l00422"></a>00422
<a name="l00423"></a>00423 <span class="comment">// recursive decide:</span>
<a name="l00424"></a>00424 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a29f0533f23f363cc9a2745b623acea34">internal_recursive_split</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a99e36b1d4761711b9e3a65c5384dbd67a2a27a3888dc519bc2fa39d82bf140c3f">OCTREE_ROOT_NODE</a>, <span class="keyword">true</span> );
<a name="l00425"></a>00425 }
<a name="l00426"></a>00426
<a name="l00427"></a>00427 <span class="comment">// Check the node "node_id" and create its children if needed, by looking at its list</span>
<a name="l00428"></a>00428 <span class="comment">// of elements (or all derived object's elements if "all_pts"=true, which will only happen</span>
<a name="l00429"></a>00429 <span class="comment">// for the root node)</span>
<a name="l00430"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a29f0533f23f363cc9a2745b623acea34">00430</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a29f0533f23f363cc9a2745b623acea34">internal_recursive_split</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> node_id, <span class="keyword">const</span> <span class="keywordtype">bool</span> all_pts = <span class="keyword">false</span>)
<a name="l00431"></a>00431 {
<a name="l00432"></a>00432 TNode &node = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[node_id];
<a name="l00433"></a>00433 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = all_pts ? <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>().size() : node.pts.size();
<a name="l00434"></a>00434
<a name="l00435"></a>00435 <span class="keyword">const</span> <span class="keywordtype">bool</span> has_to_compute_bb = (node_id ==<a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a99e36b1d4761711b9e3a65c5384dbd67a2a27a3888dc519bc2fa39d82bf140c3f">OCTREE_ROOT_NODE</a>);
<a name="l00436"></a>00436
<a name="l00437"></a>00437 <span class="keywordflow">if</span> (N<=<a class="code" href="group__mrpt__opengl__grp.html#ga42a2c572696602d4c4621bc80135225e" title="Default value = 1e5.">mrpt::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE</a>)
<a name="l00438"></a>00438 {
<a name="l00439"></a>00439 <span class="comment">// No need to split this node:</span>
<a name="l00440"></a>00440 node.is_leaf = <span class="keyword">true</span>;
<a name="l00441"></a>00441 node.all = all_pts;
<a name="l00442"></a>00442
<a name="l00443"></a>00443 <span class="comment">// Update bounding-box:</span>
<a name="l00444"></a>00444 <span class="keywordflow">if</span> (has_to_compute_bb)
<a name="l00445"></a>00445 {
<a name="l00446"></a>00446 <span class="keywordflow">if</span> (all_pts)
<a name="l00447"></a>00447 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++) node.update_bb( <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>().getPointf(i) );
<a name="l00448"></a>00448 <span class="keywordflow">else</span> <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++) node.update_bb( <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>().getPointf(node.pts[i]) );
<a name="l00449"></a>00449 }
<a name="l00450"></a>00450 }
<a name="l00451"></a>00451 <span class="keywordflow">else</span>
<a name="l00452"></a>00452 {
<a name="l00453"></a>00453 <span class="comment">// We have to split the node.</span>
<a name="l00454"></a>00454 <span class="comment">// Compute the mean of all elements:</span>
<a name="l00455"></a>00455 mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">::math::TPoint3Df</a> <a class="code" href="eigen__plugins_8h.html#a378ef7ee1218e4aa29b595c6e0f8ee4a" title="Computes the mean of the entire matrix.">mean</a>(0,0,0);
<a name="l00456"></a>00456 <span class="keywordflow">if</span> (all_pts)
<a name="l00457"></a>00457 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++)
<a name="l00458"></a>00458 {
<a name="l00459"></a>00459 mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">::math::TPoint3Df</a> p = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>().getPointf(i);
<a name="l00460"></a>00460 mean+= p;
<a name="l00461"></a>00461 <span class="keywordflow">if</span> (has_to_compute_bb) node.update_bb( p );
<a name="l00462"></a>00462 }
<a name="l00463"></a>00463 <span class="keywordflow">else</span>
<a name="l00464"></a>00464 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++)
<a name="l00465"></a>00465 {
<a name="l00466"></a>00466 mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">::math::TPoint3Df</a> p = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>().getPointf(node.pts[i]);
<a name="l00467"></a>00467 mean+= p;
<a name="l00468"></a>00468 <span class="keywordflow">if</span> (has_to_compute_bb) node.update_bb( p );
<a name="l00469"></a>00469 }
<a name="l00470"></a>00470
<a name="l00471"></a>00471 <span class="comment">// Save my split point:</span>
<a name="l00472"></a>00472 node.is_leaf = <span class="keyword">false</span>;
<a name="l00473"></a>00473 node.center = mean * (1.0f/N);
<a name="l00474"></a>00474
<a name="l00475"></a>00475 <span class="comment">// Allocate my 8 children structs</span>
<a name="l00476"></a>00476 <span class="keyword">const</span> <span class="keywordtype">size_t</span> children_idx_base = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>.size();
<a name="l00477"></a>00477 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>.resize(children_idx_base + 8 );
<a name="l00478"></a>00478 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<8;i++)
<a name="l00479"></a>00479 node.child_id[i] = children_idx_base + i;
<a name="l00480"></a>00480
<a name="l00481"></a>00481 <span class="comment">// Set the bounding-boxes of my children (we already know them):</span>
<a name="l00482"></a>00482 for (<span class="keywordtype">int</span> i=0;i<8;i++)
<a name="l00483"></a>00483 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base + i].setBBFromOrderInParent(node,i);
<a name="l00484"></a>00484
<a name="l00485"></a>00485 <span class="comment">// Divide elements among children:</span>
<a name="l00486"></a>00486 <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">::math::TPoint3Df</a> &c = node.center; <span class="comment">// to make notation clearer</span>
<a name="l00487"></a>00487 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j=0;j<N;j++)
<a name="l00488"></a>00488 {
<a name="l00489"></a>00489 <span class="keyword">const</span> <span class="keywordtype">size_t</span> i = all_pts ? j : node.pts[j];
<a name="l00490"></a>00490 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a> p = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>().getPointf(i);
<a name="l00491"></a>00491 <span class="keywordflow">if</span> (p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a><c.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">z</a>)
<a name="l00492"></a>00492 {
<a name="l00493"></a>00493 <span class="keywordflow">if</span> (p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a><c.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>)
<a name="l00494"></a>00494 {
<a name="l00495"></a>00495 <span class="keywordflow">if</span> (p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a><c.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>)
<a name="l00496"></a>00496 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base+ 0 ].pts.push_back(i);
<a name="l00497"></a>00497 <span class="keywordflow">else</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base+ 1 ].pts.push_back(i);
<a name="l00498"></a>00498 }
<a name="l00499"></a>00499 <span class="keywordflow">else</span>
<a name="l00500"></a>00500 {
<a name="l00501"></a>00501 <span class="keywordflow">if</span> (p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a><c.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>)
<a name="l00502"></a>00502 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base+ 2 ].pts.push_back(i);
<a name="l00503"></a>00503 <span class="keywordflow">else</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base+ 3 ].pts.push_back(i);
<a name="l00504"></a>00504 }
<a name="l00505"></a>00505 }
<a name="l00506"></a>00506 <span class="keywordflow">else</span>
<a name="l00507"></a>00507 {
<a name="l00508"></a>00508 <span class="keywordflow">if</span> (p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a><c.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">y</a>)
<a name="l00509"></a>00509 {
<a name="l00510"></a>00510 <span class="keywordflow">if</span> (p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a><c.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>)
<a name="l00511"></a>00511 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base+ 4 ].pts.push_back(i);
<a name="l00512"></a>00512 <span class="keywordflow">else</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base+ 5 ].pts.push_back(i);
<a name="l00513"></a>00513 }
<a name="l00514"></a>00514 <span class="keywordflow">else</span>
<a name="l00515"></a>00515 {
<a name="l00516"></a>00516 <span class="keywordflow">if</span> (p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a><c.<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">x</a>)
<a name="l00517"></a>00517 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base+ 6 ].pts.push_back(i);
<a name="l00518"></a>00518 <span class="keywordflow">else</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[children_idx_base+ 7 ].pts.push_back(i);
<a name="l00519"></a>00519 }
<a name="l00520"></a>00520 }
<a name="l00521"></a>00521 }
<a name="l00522"></a>00522
<a name="l00523"></a>00523 <span class="comment">// Clear list of elements (they're now in our children):</span>
<a name="l00524"></a>00524 {
<a name="l00525"></a>00525 std<a class="code" href="classstd_1_1vector.html">::vector<size_t></a> emptyVec;
<a name="l00526"></a>00526 node.pts.swap(emptyVec); <span class="comment">// This is THE way of really clearing a std::vector</span>
<a name="l00527"></a>00527 }
<a name="l00528"></a>00528
<a name="l00529"></a>00529 <span class="comment">// Recursive call on children:</span>
<a name="l00530"></a>00530 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<8;i++)
<a name="l00531"></a>00531 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a29f0533f23f363cc9a2745b623acea34">internal_recursive_split</a>( node.child_id[i] );
<a name="l00532"></a>00532 }
<a name="l00533"></a>00533 } <span class="comment">// end of internal_recursive_split</span>
<a name="l00534"></a>00534
<a name="l00535"></a>00535 <span class="keyword">public</span>:
<a name="l00536"></a>00536 <span class="comment"></span>
<a name="l00537"></a>00537 <span class="comment"> /** Return the number of octree nodes (all of them, including the empty ones) \sa octree_get_nonempty_node_count */</span>
<a name="l00538"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a97df46c4bf3b5d805bae5e83df9204f5">00538</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a97df46c4bf3b5d805bae5e83df9204f5" title="Return the number of octree nodes (all of them, including the empty ones)">octree_get_node_count</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>.size(); }
<a name="l00539"></a>00539 <span class="comment"></span>
<a name="l00540"></a>00540 <span class="comment"> /** Return the number of visible octree nodes in the last render event. */</span>
<a name="l00541"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a988e5850b856c11e1ffa09f56527aa98">00541</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a988e5850b856c11e1ffa09f56527aa98" title="Return the number of visible octree nodes in the last render event.">octree_get_visible_nodes</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#abf7a40869dc47c05a02e4b5cfad2f6a4">m_visible_octree_nodes</a>; }
<a name="l00542"></a>00542 <span class="comment"></span>
<a name="l00543"></a>00543 <span class="comment"> /** 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) */</span>
<a name="l00544"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a8748ea57a6ca82f31c9d8b0ca213ac4d">00544</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a8748ea57a6ca82f31c9d8b0ca213ac4d" title="Called from the derived class (or the user) to indicate we have/want to rebuild the entire node tree ...">octree_mark_as_outdated</a>() { <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a5ac57f1f2a8d8f08ae6741da46c9f0b9">m_octree_has_to_rebuild_all</a>=<span class="keyword">true</span>; }
<a name="l00545"></a>00545 <span class="comment"></span>
<a name="l00546"></a>00546 <span class="comment"> /** Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes.</span>
<a name="l00547"></a>00547 <span class="comment"> */</span>
<a name="l00548"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a795da6fcc74d69fe6765b0936c1e94d0">00548</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a795da6fcc74d69fe6765b0936c1e94d0" title="Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes...">octree_get_graphics_boundingboxes</a>(
<a name="l00549"></a>00549 <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html" title="A set of object, which are referenced to the coordinates framework established in this object...">mrpt::opengl::CSetOfObjects</a> &gl_bb,
<a name="l00550"></a>00550 <span class="keyword">const</span> <span class="keywordtype">double</span> lines_width = 1,
<a name="l00551"></a>00551 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">TColorf</a> lines_color = <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">TColorf</a>(1,1,1) )<span class="keyword"> const</span>
<a name="l00552"></a>00552 <span class="keyword"> </span>{
<a name="l00553"></a>00553 <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#ad17579453783a60bc9083b55ece20878" title="Must be called at children class' render() previously to octree_render() ">octree_assure_uptodate</a>();
<a name="l00554"></a>00554 gl_bb.<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a705c3e61d4893d1b7d17f50805ec67a6" title="Clear the list of objects in the scene, deleting objects' memory.">clear</a>();
<a name="l00555"></a>00555 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<<a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>.size();i++)
<a name="l00556"></a>00556 {
<a name="l00557"></a>00557 <span class="keyword">const</span> TNode & node = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[i];
<a name="l00558"></a>00558 <span class="keywordflow">if</span> (!node.is_leaf) <span class="keywordflow">continue</span>;
<a name="l00559"></a>00559 mrpt<a class="code" href="structmrpt_1_1opengl_1_1_c_box_ptr.html">::opengl::CBoxPtr</a> gl_box = <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#ad0050a96f4e90d7f55ffb6a37b428c6f">mrpt::opengl::CBox::Create</a>();
<a name="l00560"></a>00560 gl_box->setBoxCorners( <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a>(node.bb_min), <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a>(node.bb_max) );
<a name="l00561"></a>00561 gl_box->setColor(lines_color);
<a name="l00562"></a>00562 gl_box->setLineWidth(lines_width);
<a name="l00563"></a>00563 gl_box->setWireframe(<span class="keyword">true</span>);
<a name="l00564"></a>00564 gl_bb.<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#af2705e63af3a6b315d65acd69d6b48f3" title="Insert a new object to the list.">insert</a>(gl_box);
<a name="l00565"></a>00565 }
<a name="l00566"></a>00566 }
<a name="l00567"></a>00567
<a name="l00568"></a>00568 <span class="comment"></span>
<a name="l00569"></a>00569 <span class="comment"> /** Used for debug only */</span>
<a name="l00570"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#aae50bbc3010e571e293e7323452a8628">00570</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#aae50bbc3010e571e293e7323452a8628" title="Used for debug only.">octree_debug_dump_tree</a>(<a class="code" href="classstd_1_1ostream.html" title="STL class.">std::ostream</a> &o)<span class="keyword"> const</span>
<a name="l00571"></a>00571 <span class="keyword"> </span>{
<a name="l00572"></a>00572 o << <span class="stringliteral">"Octree nodes: "</span> << <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>.size() << std::endl;
<a name="l00573"></a>00573 <span class="keywordtype">size_t</span> total_elements = 0;
<a name="l00574"></a>00574 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<<a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>.size();i++)
<a name="l00575"></a>00575 {
<a name="l00576"></a>00576 <span class="keyword">const</span> TNode & node = <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a665267aefee84da6bdd42bd80b374919" title="First one [0] is always the root node.">m_octree_nodes</a>[i];
<a name="l00577"></a>00577
<a name="l00578"></a>00578 o << <span class="stringliteral">"Node #"</span> << i << <span class="stringliteral">": "</span>;
<a name="l00579"></a>00579 <span class="keywordflow">if</span> (node.is_leaf)
<a name="l00580"></a>00580 {
<a name="l00581"></a>00581 o << <span class="stringliteral">"leaf, "</span>;
<a name="l00582"></a>00582 <span class="keywordflow">if</span> (node.all) { o << <span class="stringliteral">"(all)\n"</span>; total_elements+=<a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html#a951796ae13d3ac041025ae62989d79ee">octree_derived</a>().size(); }
<a name="l00583"></a>00583 <span class="keywordflow">else</span> { o << node.pts.size() << <span class="stringliteral">" elements; "</span>; total_elements+=node.pts.size(); }
<a name="l00584"></a>00584
<a name="l00585"></a>00585 }
<a name="l00586"></a>00586 <span class="keywordflow">else</span>
<a name="l00587"></a>00587 {
<a name="l00588"></a>00588 o << <span class="stringliteral">"parent, center=("</span> << node.center.x << <span class="stringliteral">","</span> << node.center.y<<<span class="stringliteral">","</span><<node.center.z<<<span class="stringliteral">"), children: "</span>
<a name="l00589"></a>00589 << node.child_id[0] << <span class="stringliteral">","</span><< node.child_id[1] << <span class="stringliteral">","</span><< node.child_id[2] << <span class="stringliteral">","</span><< node.child_id[3] << <span class="stringliteral">","</span>
<a name="l00590"></a>00590 << node.child_id[4] << <span class="stringliteral">","</span><< node.child_id[5] << <span class="stringliteral">","</span><< node.child_id[6] << <span class="stringliteral">","</span><< node.child_id[7] << <span class="stringliteral">"; "</span>;
<a name="l00591"></a>00591 }
<a name="l00592"></a>00592 o << <span class="stringliteral">" bb: ("</span> << node.bb_min.x << <span class="stringliteral">","</span><< node.bb_min.y << <span class="stringliteral">","</span><< node.bb_min.z << <span class="stringliteral">")-("</span>
<a name="l00593"></a>00593 << node.bb_max.x << <span class="stringliteral">","</span><< node.bb_max.y << <span class="stringliteral">","</span><< node.bb_max.z << <span class="stringliteral">")\n"</span>;
<a name="l00594"></a>00594 }
<a name="l00595"></a>00595 o << <span class="stringliteral">"Total elements in all nodes: "</span> << total_elements << std::endl;
<a name="l00596"></a>00596 } <span class="comment">// end of octree_debug_dump_tree</span>
<a name="l00597"></a>00597
<a name="l00598"></a>00598 }; <span class="comment">// end of class COctreePointRenderer</span>
<a name="l00599"></a>00599
<a name="l00600"></a>00600 } <span class="comment">// end namespace</span>
<a name="l00601"></a>00601 } <span class="comment">// End of namespace</span>
<a name="l00602"></a>00602 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<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>
