#include <ecvCameraSensor.h>

Collaboration diagram for ccOctreeFrustumIntersector:

[legend]

Public Types
enum	OctreeCellVisibility { CELL_OUTSIDE_FRUSTUM = 0 , CELL_INSIDE_FRUSTUM = 1 , CELL_INTERSECT_FRUSTUM = 2 }
	Definition of the state of a cell compared to a frustum. More...

Public Member Functions
	ccOctreeFrustumIntersector ()
	Default constructor. More...

bool	build (cloudViewer::DgmOctree *octree)
	Prepares structure for frustum filtering. More...

OctreeCellVisibility	positionFromFrustum (cloudViewer::DgmOctree::CellCode truncatedCode, unsigned char level) const
	Returns the cell visibility. More...

void	computeFrustumIntersectionWithOctree (std::vector< std::pair< unsigned, CCVector3 >> &pointsToTest, std::vector< unsigned > &inCameraFrustum, const float planesCoefficients[6][4], const CCVector3 ptsFrustum[8], const CCVector3 edges[6], const CCVector3 &center)

void	computeFrustumIntersectionByLevel (unsigned char level, cloudViewer::DgmOctree::CellCode parentTruncatedCode, OctreeCellVisibility parentResult, const float planesCoefficients[6][4], const CCVector3 ptsFrustum[8], const CCVector3 edges[6], const CCVector3 &center)

OctreeCellVisibility	separatingAxisTest (const CCVector3 &bbMin, const CCVector3 &bbMax, const float planesCoefficients[6][4], const CCVector3 frustumCorners[8], const CCVector3 frustumEdges[6], const CCVector3 &frustumCenter)
	Separating Axis Test. More...

Protected Attributes
cloudViewer::DgmOctree *	m_associatedOctree

std::unordered_set< cloudViewer::DgmOctree::CellCode >	m_cellsBuilt [cloudViewer::DgmOctree::MAX_OCTREE_LEVEL+1]

std::unordered_set< cloudViewer::DgmOctree::CellCode >	m_cellsInFrustum [cloudViewer::DgmOctree::MAX_OCTREE_LEVEL+1]

std::unordered_set< cloudViewer::DgmOctree::CellCode >	m_cellsIntersectFrustum [cloudViewer::DgmOctree::MAX_OCTREE_LEVEL+1]

Detailed Description

Definition at line 618 of file ecvCameraSensor.h.

Member Enumeration Documentation

◆ OctreeCellVisibility

enum ccOctreeFrustumIntersector::OctreeCellVisibility

Definition of the state of a cell compared to a frustum.

OUTSIDE : the celle is completely outside the frustum (no intersection, no inclusion) INSIDE : the cell is completely inside the frustum INTERSECT : other cases --> the frustum is completely inside the cell OR the frustum and the cell have an intersection

Enumerator
CELL_OUTSIDE_FRUSTUM
CELL_INSIDE_FRUSTUM
CELL_INTERSECT_FRUSTUM

Definition at line 626 of file ecvCameraSensor.h.

Constructor & Destructor Documentation

◆ ccOctreeFrustumIntersector()

ccOctreeFrustumIntersector::ccOctreeFrustumIntersector ( )

inline

Default constructor.

Definition at line 633 of file ecvCameraSensor.h.

Member Function Documentation

◆ build()

bool ccOctreeFrustumIntersector::build ( cloudViewer::DgmOctree * octree )

Prepares structure for frustum filtering.

◆ computeFrustumIntersectionByLevel()

void ccOctreeFrustumIntersector::computeFrustumIntersectionByLevel	(	unsigned char	level,
		cloudViewer::DgmOctree::CellCode	parentTruncatedCode,
		OctreeCellVisibility	parentResult,
		const float	planesCoefficients[6][4],
		const CCVector3	ptsFrustum[8],
		const CCVector3	edges[6],
		const CCVector3 &	center
	)

Compute intersection between the octree and the height children cells of a parent cell.

Parameters

level	current level
parentTruncatedCode	truncated code of the parent cell (at level-1)
parentResult	contains in which class the parent cell has been classified (OUTSIDE, INTERSECTING, INSIDE)
planesCoefficients	coefficients (a, b, c and d) of the six frustum planes (0:right, 1:bottom, 2:left, 3:top, 4:near, 5:far)
ptsFrustum	3D coordinates of the eight corners of the frustum (global coordinates system)
edges	3D coordinates (global coordinates system) of the six director vector of the frustum edges
center	3D coordinates of the frustum center (global coordinates system) ; this is the center of the circumscribed sphere

◆ computeFrustumIntersectionWithOctree()

void ccOctreeFrustumIntersector::computeFrustumIntersectionWithOctree	(	std::vector< std::pair< unsigned, CCVector3 >> &	pointsToTest,
		std::vector< unsigned > &	inCameraFrustum,
		const float	planesCoefficients[6][4],
		const CCVector3	ptsFrustum[8],
		const CCVector3	edges[6],
		const CCVector3 &	center
	)

Compute intersection between the octree and a frustum and send back the indices of 3D points inside the frustum or in cells interescting it. Every cells of each level of the octree will be classified as INSIDE, OUTSIDE or INTERSECTING the frustum. Their truncated code are then stored in m_cellsInFrustum (for cells INSIDE) or m_cellsIntersectFrustum (for cells INTERSECTING).

Parameters

pointsToTest	contains the indice and 3D position (global coordinates system) of every 3D points stored in an INTERSECTING cell
inCameraFrustum	contains the indice of every 3D points stored in an INSIDE cell
planesCoefficients	coefficients (a, b, c and d) of the six frustum planes (0:right, 1:bottom, 2:left, 3:top, 4:near, 5:far)
ptsFrustum	3D coordinates of the eight corners of the frustum (global coordinates system)
edges	3D coordinates (global coordinates system) of the six director vector of the frustum edges
center	3D coordinates of the frustum center (global coordinates system) ; this is the center of the circumscribed sphere

◆ positionFromFrustum()

OctreeCellVisibility ccOctreeFrustumIntersector::positionFromFrustum	(	cloudViewer::DgmOctree::CellCode	truncatedCode,
		unsigned char	level
	)		const

inline

Returns the cell visibility.

Definition at line 639 of file ecvCameraSensor.h.

References CELL_INSIDE_FRUSTUM, CELL_INTERSECT_FRUSTUM, CELL_OUTSIDE_FRUSTUM, m_associatedOctree, m_cellsInFrustum, and m_cellsIntersectFrustum.

◆ separatingAxisTest()

OctreeCellVisibility ccOctreeFrustumIntersector::separatingAxisTest	(	const CCVector3 &	bbMin,
		const CCVector3 &	bbMax,
		const float	planesCoefficients[6][4],
		const CCVector3	frustumCorners[8],
		const CCVector3	frustumEdges[6],
		const CCVector3 &	frustumCenter
	)

Separating Axis Test.

See "Detecting intersection of a rectangular solid and a convex polyhedron" of Ned Greene See "OBBTree: A Hierarchical Structure for Rapid Interference Detection" of S. Gottschalk, M. C. Lin and D. Manocha

Parameters

bbMin	minimum coordinates of the cell
bbMax	maximum coordinates of the cell
planesCoefficients	coefficients (a, b, c and d) of the six frustum planes (0:right, 1:bottom, 2:left, 3:top, 4:near, 5:far)
frustumCorners	3D coordinates of the eight corners of the frustum (global coordinates system)
frustumEdges	3D coordinates (global coordinates system) of the six director vector of the frustum edges
frustumCenter	3D coordinates of the frustum center (global coordinates system) ; this is the center of the circumscribed sphere

Member Data Documentation

◆ m_associatedOctree

cloudViewer::DgmOctree* ccOctreeFrustumIntersector::m_associatedOctree

protected

Definition at line 722 of file ecvCameraSensor.h.

Referenced by positionFromFrustum().

◆ m_cellsBuilt

std::unordered_set<cloudViewer::DgmOctree::CellCode> ccOctreeFrustumIntersector::m_cellsBuilt[cloudViewer::DgmOctree::MAX_OCTREE_LEVEL+1]

protected

Definition at line 726 of file ecvCameraSensor.h.

◆ m_cellsInFrustum

std::unordered_set<cloudViewer::DgmOctree::CellCode> ccOctreeFrustumIntersector::m_cellsInFrustum[cloudViewer::DgmOctree::MAX_OCTREE_LEVEL+1]

protected

Definition at line 729 of file ecvCameraSensor.h.

Referenced by positionFromFrustum().

◆ m_cellsIntersectFrustum

std::unordered_set<cloudViewer::DgmOctree::CellCode> ccOctreeFrustumIntersector::m_cellsIntersectFrustum[cloudViewer::DgmOctree::MAX_OCTREE_LEVEL+ 1]

protected

Definition at line 732 of file ecvCameraSensor.h.

Referenced by positionFromFrustum().

The documentation for this class was generated from the following file:

/root/ACloudViewer/libs/CV_db/include/ecvCameraSensor.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ OctreeCellVisibility

Constructor & Destructor Documentation

◆ ccOctreeFrustumIntersector()

Member Function Documentation

◆ build()

◆ computeFrustumIntersectionByLevel()

◆ computeFrustumIntersectionWithOctree()

◆ positionFromFrustum()

◆ separatingAxisTest()

Member Data Documentation

◆ m_associatedOctree

◆ m_cellsBuilt

◆ m_cellsInFrustum

◆ m_cellsIntersectFrustum