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COctreePointRenderer.h File Reference

#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CBox.h>
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Classes

class  mrpt::opengl::COctreePointRenderer< Derived >
 Template class that implements the data structure and algorithms for Octree-based efficient rendering. More...
struct  mrpt::opengl::COctreePointRenderer< Derived >::TNode
 The structure for each octree spatial node. More...
struct  mrpt::opengl::COctreePointRenderer< Derived >::TRenderQueueElement

Namespaces

namespace  mrpt
 

This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.


namespace  mrpt::global_settings
 

Global variables to change the run-time behaviour of some MRPT classes within mrpt-core.


namespace  mrpt::opengl
 

The namespace for 3D scene representation and rendering.


Defines

#define PROJ_SUB_NODE(POSTFIX)
#define PROJ_SUB_NODE_ALREADY_DONE(INDEX, POSTFIX)
#define DO_RECURSE_CHILD(INDEX, SEQ0, SEQ1, SEQ2, SEQ3, SEQ4, SEQ5, SEQ6, SEQ7)

Variables

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

Define Documentation

#define DO_RECURSE_CHILD (   INDEX,
  SEQ0,
  SEQ1,
  SEQ2,
  SEQ3,
  SEQ4,
  SEQ5,
  SEQ6,
  SEQ7 
)
Value:
{ \
                                                        TPixelCoordf child_cr_px[8] = { px_##SEQ0,px_##SEQ1,px_##SEQ2,px_##SEQ3,px_##SEQ4,px_##SEQ5,px_##SEQ6,px_##SEQ7 }; \
                                                        float        child_cr_z[8]  = { depth_##SEQ0,depth_##SEQ1,depth_##SEQ2,depth_##SEQ3,depth_##SEQ4,depth_##SEQ5,depth_##SEQ6,depth_##SEQ7 }; \
                                                        this->octree_recursive_render(node.child_id[INDEX],ri,child_cr_px, child_cr_z); \
                                                }

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

#define PROJ_SUB_NODE (   POSTFIX )
Value:
TPixelCoordf px_##POSTFIX; \
                                                float        depth_##POSTFIX; \
                                                ri.projectPointPixels( p_##POSTFIX.x, p_##POSTFIX.y, p_##POSTFIX.z, px_##POSTFIX.x,px_##POSTFIX.y,depth_##POSTFIX);

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

#define PROJ_SUB_NODE_ALREADY_DONE (   INDEX,
  POSTFIX 
)
Value:
const TPixelCoordf px_##POSTFIX = cr_px[INDEX]; \
                                                float        depth_##POSTFIX = cr_z[INDEX];

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




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