The structure for each octree spatial node.
Each node can either be a leaf of has 8 children nodes. Instead of pointers, children are referenced by their indices in m_octree_nodes
Definition at line 121 of file COctreePointRenderer.h.
Public Member Functions | |
TNode () | |
void | update_bb (const mrpt::math::TPoint3Df &p) |
update bounding box with a new point: | |
float | getCornerX (int i) const |
float | getCornerY (int i) const |
float | getCornerZ (int i) const |
void | setBBFromOrderInParent (const TNode &parent, int my_child_index) |
Public Attributes | |
bool | is_leaf |
true: it's a leaf and pts has valid indices; false: children is valid. | |
mrpt::math::TPoint3Df | bb_min |
mrpt::math::TPoint3Df | bb_max |
std::vector< size_t > | pts |
Point indices in the derived class that fall into this node. | |
bool | all |
true: All elements in the reference object; false: only those in pts | |
mrpt::math::TPoint3Df | center |
[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children nodes. | |
size_t | child_id [8] |
[is_leaf=false] The indices in m_octree_nodes of the 8 children. |
mrpt::opengl::COctreePointRenderer< Derived >::TNode::TNode | ( | ) | [inline] |
Definition at line 123 of file COctreePointRenderer.h.
float mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerX | ( | int | i | ) | const [inline] |
Definition at line 148 of file COctreePointRenderer.h.
float mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerY | ( | int | i | ) | const [inline] |
Definition at line 149 of file COctreePointRenderer.h.
float mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerZ | ( | int | i | ) | const [inline] |
Definition at line 150 of file COctreePointRenderer.h.
void mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent | ( | const TNode & | parent, | |
int | my_child_index | |||
) | [inline] |
Definition at line 152 of file COctreePointRenderer.h.
References mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_max, mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_min, mrpt::opengl::COctreePointRenderer< Derived >::TNode::center, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.
void mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb | ( | const mrpt::math::TPoint3Df & | p | ) | [inline] |
update bounding box with a new point:
Definition at line 142 of file COctreePointRenderer.h.
References mrpt::utils::keep_max(), mrpt::utils::keep_min(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.
bool mrpt::opengl::COctreePointRenderer< Derived >::TNode::all |
true: All elements in the reference object; false: only those in pts
Definition at line 135 of file COctreePointRenderer.h.
mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_max |
Definition at line 131 of file COctreePointRenderer.h.
Referenced by mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent().
mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_min |
Definition at line 131 of file COctreePointRenderer.h.
Referenced by mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent().
mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer< Derived >::TNode::center |
[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children nodes.
Definition at line 138 of file COctreePointRenderer.h.
Referenced by mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent().
size_t mrpt::opengl::COctreePointRenderer< Derived >::TNode::child_id[8] |
[is_leaf=false] The indices in m_octree_nodes of the 8 children.
Definition at line 139 of file COctreePointRenderer.h.
bool mrpt::opengl::COctreePointRenderer< Derived >::TNode::is_leaf |
true: it's a leaf and pts has valid indices; false: children is valid.
Definition at line 128 of file COctreePointRenderer.h.
std::vector<size_t> mrpt::opengl::COctreePointRenderer< Derived >::TNode::pts |
Point indices in the derived class that fall into this node.
Definition at line 134 of file COctreePointRenderer.h.
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