#include <Octree.h>

Inheritance diagram for cloudViewer::geometry::Octree:

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Collaboration diagram for cloudViewer::geometry::Octree:

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Public Member Functions
	Octree (const char *name="Octree2")
	Default Constructor. More...

	Octree (const size_t &max_depth, const char *name="Octree2")
	Parameterized Constructor. More...

	Octree (const size_t &max_depth, const Eigen::Vector3d &origin, const double &size, const char *name="Octree2")
	Parameterized Constructor. More...

	Octree (const Octree &src_octree, const char *name="Octree2")

	~Octree () override

virtual bool	isSerializable () const override
	Returns whether object is serializable of not. More...

virtual CV_CLASS_ENUM	getClassID () const override
	Returns unique class ID. More...

virtual ccBBox	getOwnBB (bool withGLFeatures=false) override
	Returns the entity's own bounding-box. More...

Octree &	Clear ()

virtual bool	IsEmpty () const override

virtual Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

virtual ccBBox	GetAxisAlignedBoundingBox () const override
	Returns an axis-aligned bounding box of the geometry. More...

virtual ecvOrientedBBox	GetOrientedBoundingBox () const override

virtual Octree &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual Octree &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

virtual Octree &	Scale (const double s, const Eigen::Vector3d &center) override
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

virtual Octree &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

bool	ConvertToJsonValue (Json::Value &value) const override

bool	ConvertFromJsonValue (const Json::Value &value) override

void	ConvertFromPointCloud (const ccPointCloud &point_cloud, double size_expand=0.01)
	Convert octree from point cloud. More...

void	InsertPoint (const Eigen::Vector3d &point, const std::function< std::shared_ptr< OctreeLeafNode >()> &fl_init, const std::function< void(std::shared_ptr< OctreeLeafNode >)> &fl_update, const std::function< std::shared_ptr< OctreeInternalNode >()> &fi_init=nullptr, const std::function< void(std::shared_ptr< OctreeInternalNode >)> &fi_update=nullptr)
	Insert a point to the octree. More...

void	Traverse (const std::function< bool(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> &f)
	DFS traversal of Octree from the root, with callback function called for each node. More...

void	Traverse (const std::function< bool(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> &f) const
	Const version of Traverse. DFS traversal of Octree from the root, with callback function called for each node. More...

std::pair< std::shared_ptr< OctreeLeafNode >, std::shared_ptr< OctreeNodeInfo > >	LocateLeafNode (const Eigen::Vector3d &point) const
	Returns leaf OctreeNode and OctreeNodeInfo where the querypoint should reside. More...

bool	operator== (const Octree &other) const
	Returns true if the Octree is completely the same, used for testing. More...

std::shared_ptr< geometry::VoxelGrid >	ToVoxelGrid () const
	Convert to VoxelGrid. More...

void	CreateFromVoxelGrid (const geometry::VoxelGrid &voxel_grid)
	Convert from voxel grid. More...

Public Member Functions inherited from ccHObject
	ccHObject (QString name=QString())
	Default constructor. More...

	ccHObject (const ccHObject &object)
	Copy constructor. More...

virtual	~ccHObject () override
	Default destructor. More...

virtual Eigen::Vector2d	GetMin2DBound () const

virtual Eigen::Vector2d	GetMax2DBound () const

virtual ccHObject &	Scale (const double s)

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R)

QString	getViewId () const

bool	isGroup () const
	Returns whether the instance is a group. More...

ccHObject *	getParent () const
	Returns parent object. More...

virtual QIcon	getIcon () const
	Returns the icon associated to this entity. More...

void	addDependency (ccHObject *otherObject, int flags, bool additive=true)
	Adds a new dependence (additive or not) More...

int	getDependencyFlagsWith (const ccHObject *otherObject)
	Returns the dependency flags with a given object. More...

void	removeDependencyWith (ccHObject *otherObject)
	Removes any dependency flags with a given object. More...

void	removeDependencyFlag (ccHObject *otherObject, DEPENDENCY_FLAGS flag)
	Removes a given dependency flag. More...

virtual bool	addChild (ccHObject *child, int dependencyFlags=DP_PARENT_OF_OTHER, int insertIndex=-1)
	Adds a child. More...

unsigned	getChildrenNumber () const
	Returns the number of children. More...

unsigned int	getChildCountRecursive () const
	Returns the total number of children under this object recursively. More...

ccHObject *	getChild (unsigned childPos) const
	Returns the ith child. More...

ccHObject *	find (unsigned uniqueID)
	Finds an entity in this object hierarchy. More...

unsigned	filterChildren (Container &filteredChildren, bool recursive=false, CV_CLASS_ENUM filter=CV_TYPES::OBJECT, bool strict=false) const
	Collects the children corresponding to a certain pattern. More...

void	detachChild (ccHObject *child)
	Detaches a specific child. More...

void	detachAllChildren ()
	Removes a specific child. More...

void	getTypeID_recursive (std::vector< removeInfo > &rmInfos, bool relative)

void	getTypeID_recursive (std::vector< hideInfo > &hdInfos, bool relative)

void	removeChild (ccHObject *child)

void	removeChild (int pos)
	Removes a specific child given its index. More...

void	removeAllChildren ()
	Removes all children. More...

int	getChildIndex (const ccHObject *aChild) const
	Returns child index. More...

void	swapChildren (unsigned firstChildIndex, unsigned secondChildIndex)
	Swaps two children. More...

int	getIndex () const
	Returns index relatively to its parent or -1 if no parent. More...

void	transferChild (ccHObject *child, ccHObject &newParent)
	Transfer a given child to another parent. More...

void	transferChildren (ccHObject &newParent, bool forceFatherDependent=false)
	Transfer all children to another parent. More...

ccHObject *	getFirstChild () const
	Shortcut: returns first child. More...

ccHObject *	getLastChild () const
	Shortcut: returns last child. More...

bool	isAncestorOf (const ccHObject *anObject) const
	Returns true if the current object is an ancestor of the specified one. More...

void	removeFromRenderScreen (bool recursive=true)

void	hideObject_recursive (bool recursive)

void	hideBB (CC_DRAW_CONTEXT context)

void	showBB (CC_DRAW_CONTEXT context)

void	setRedrawFlagRecursive (bool redraw=false)

void	setForceRedrawRecursive (bool redraw=false)

void	setPointSizeRecursive (int pSize)

void	setLineWidthRecursive (PointCoordinateType width)

virtual ccBBox	getBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the bounding-box of this entity and it's children. More...

virtual GlobalBoundingBox	getOwnGlobalBB (bool withGLFeatures=false)

virtual bool	getOwnGlobalBB (CCVector3d &minCorner, CCVector3d &maxCorner)

virtual GlobalBoundingBox	getGlobalBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the global bounding-box of this entity and it's children. More...

virtual ccBBox	getDisplayBB_recursive (bool relative)
	Returns the bounding-box of this entity and it's children WHEN DISPLAYED. More...

virtual ccBBox	getOwnFitBB (ccGLMatrix &trans)
	Returns best-fit bounding-box (if available) More...

virtual void	drawBB (CC_DRAW_CONTEXT &context, const ecvColor::Rgb &col)
	Draws the entity (and its children) bounding-box. More...

void	draw (CC_DRAW_CONTEXT &context) override
	Draws entity and its children. More...

void	updateNameIn3DRecursive ()

void	setHideShowType (CC_DRAW_CONTEXT &context)

void	setRemoveType (CC_DRAW_CONTEXT &context)

ENTITY_TYPE	getEntityType () const

virtual void	redrawDisplay (bool forceRedraw=true, bool only2D=false)
	Redraws associated display. More...

bool	getAbsoluteGLTransformation (ccGLMatrix &trans) const

virtual bool	isDisplayed () const
	Returns whether the object is actually displayed (visible) or not. More...

virtual bool	isBranchEnabled () const
	Returns whether the object and all its ancestors are enabled. More...

virtual void	redrawDisplay_recursive (bool p)

virtual void	refreshDisplay_recursive (bool p)

virtual void	setSelected_recursive (bool p)

virtual void	toggleActivation_recursive ()

virtual void	toggleVisibility_recursive ()

virtual void	toggleColors_recursive ()

virtual void	resetGLTransformationHistory_recursive ()

virtual void	toggleNormals_recursive ()

virtual void	toggleSF_recursive ()

virtual void	toggleShowName_recursive ()

unsigned	findMaxUniqueID_recursive () const
	Returns the max 'unique ID' of this entity and its siblings. More...

void	applyGLTransformation_recursive (const ccGLMatrix *trans=nullptr)
	Applies the active OpenGL transformation to the entity (recursive) More...

virtual void	notifyGeometryUpdate ()

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFileNoChildren (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Custom version of ccSerializableObject::fromFile. More...

virtual bool	isShareable () const
	Returns whether object is shareable or not. More...

virtual void	setSelectionBehavior (SelectionBehavior mode)
	Sets selection behavior (when displayed) More...

virtual SelectionBehavior	getSelectionBehavior () const
	Returns selection behavior. More...

virtual unsigned	getUniqueIDForDisplay () const
	Returns object unqiue ID used for display. More...

virtual const ccGLMatrix &	getGLTransformationHistory () const
	Returns the transformation 'history' matrix. More...

virtual void	setGLTransformationHistory (const ccGLMatrix &mat)
	Sets the transformation 'history' matrix (handle with care!) More...

virtual void	resetGLTransformationHistory ()
	Resets the transformation 'history' matrix. More...

bool	pushDisplayState () override
	Pushes the current display state (overridden) More...

void	popDisplayState (bool apply=true) override
	Pops the last pushed display state (overridden) More...

Public Member Functions inherited from ccObject
	ccObject (QString name=QString())
	Default constructor. More...

	ccObject (const ccObject &object)
	Copy constructor. More...

virtual QString	getName () const
	Returns object name. More...

virtual void	setName (const QString &name)
	Sets object name. More...

virtual void	setRemoveFlag (bool removeFlag)
	Sets removeFlag. More...

virtual bool	getRemoveFlag ()
	Returns removeFlag. More...

virtual unsigned	getUniqueID () const
	Returns object unique ID. More...

virtual void	setUniqueID (unsigned ID)
	Changes unique ID. More...

virtual bool	isEnabled () const
	Returns whether the object is enabled or not. More...

virtual void	setEnabled (bool state)
	Sets the "enabled" property. More...

virtual void	toggleActivation ()
	Toggles the "enabled" property. More...

virtual bool	isLocked () const
	Returns whether the object is locked or not. More...

virtual void	setLocked (bool state)
	Sets the "enabled" property. More...

bool	isLeaf () const

bool	isCustom () const

bool	isHierarchy () const

bool	isKindOf (CV_CLASS_ENUM type) const

bool	isA (CV_CLASS_ENUM type) const

QVariant	getMetaData (const QString &key) const
	Returns a given associated meta data. More...

bool	removeMetaData (const QString &key)
	Removes a given associated meta-data. More...

void	setMetaData (const QString &key, const QVariant &data)
	Sets a meta-data element. More...

void	setMetaData (const QVariantMap &dataset, bool overwrite=false)
	Sets several meta-data elements at a time. More...

bool	hasMetaData (const QString &key) const
	Returns whether a meta-data element with the given key exists or not. More...

const QVariantMap &	metaData () const
	Returns meta-data map (const only) More...

void	setBaseName (const QString &baseName)

QString	getBaseName () const

void	setFullPath (const QString &fullPaht)

QString	getFullPath () const

Public Member Functions inherited from ccSerializableObject
virtual	~ccSerializableObject ()=default
	Destructor. More...

Public Member Functions inherited from ccDrawableObject
	ccDrawableObject ()
	Default constructor. More...

	ccDrawableObject (const ccDrawableObject &object)
	Copy constructor. More...

virtual	~ccDrawableObject ()=default

virtual bool	isVisible () const
	Returns whether entity is visible or not. More...

virtual void	setVisible (bool state)
	Sets entity visibility. More...

virtual void	toggleVisibility ()
	Toggles visibility. More...

virtual bool	isRedraw () const
	Returns whether entity is to be redraw. More...

virtual void	setRedraw (bool state)
	Sets entity redraw mode. More...

virtual void	setForceRedraw (bool state)
	Sets force redraw. More...

virtual void	setFixedId (bool state)

virtual bool	isFixedId ()

virtual bool	isVisibilityLocked () const
	Returns whether visibility is locked or not. More...

virtual void	lockVisibility (bool state)
	Locks/unlocks visibility. More...

virtual bool	isSelected () const
	Returns whether entity is selected or not. More...

virtual void	setSelected (bool state)
	Selects/Unselects entity. More...

virtual void	getDrawingParameters (glDrawParams &params) const
	Returns main OpenGL parameters for this entity. More...

virtual bool	hasColors () const
	Returns whether colors are enabled or not. More...

virtual bool	colorsShown () const
	Returns whether colors are shown or not. More...

virtual void	showColors (bool state)
	Sets colors visibility. More...

virtual void	toggleColors ()
	Toggles colors display state. More...

virtual bool	hasNormals () const
	Returns whether normals are enabled or not. More...

virtual bool	normalsShown () const
	Returns whether normals are shown or not. More...

virtual void	showNormals (bool state)
	Sets normals visibility. More...

virtual void	toggleNormals ()
	Toggles normals display state. More...

virtual bool	hasDisplayedScalarField () const
	Returns whether an active scalar field is available or not. More...

virtual bool	hasScalarFields () const
	Returns whether one or more scalar fields are instantiated. More...

virtual void	showSF (bool state)
	Sets active scalarfield visibility. More...

virtual void	toggleSF ()
	Toggles SF display state. More...

virtual bool	sfShown () const
	Returns whether active scalar field is visible. More...

virtual void	toggleMaterials ()
	Toggles material display state. More...

virtual void	showNameIn3D (bool state)
	Sets whether name should be displayed in 3D. More...

virtual bool	nameShownIn3D () const
	Returns whether name is displayed in 3D or not. More...

virtual void	toggleShowName ()
	Toggles name in 3D display state. More...

virtual bool	isColorOverridden () const

virtual const ecvColor::Rgb &	getTempColor () const
	Returns current temporary (unique) color. More...

virtual void	setTempColor (const ecvColor::Rgb &col, bool autoActivate=true)
	Sets current temporary (unique) More...

virtual void	enableTempColor (bool state)
	Set temporary color activation state. More...

virtual float	getOpacity () const

virtual void	setOpacity (float opacity)
	Set opacity activation state. More...

virtual void	setGLTransformation (const ccGLMatrix &trans)
	Associates entity with a GL transformation (rotation + translation) More...

virtual void	enableGLTransformation (bool state)
	Enables/disables associated GL transformation. More...

virtual bool	isGLTransEnabled () const
	Returns whether a GL transformation is enabled or not. More...

virtual const ccGLMatrix &	getGLTransformation () const
	Returns associated GL transformation. More...

virtual void	resetGLTransformation ()
	Resets associated GL transformation. More...

virtual void	rotateGL (const ccGLMatrix &rotMat)
	Multiplies (left) current GL transformation by a rotation matrix. More...

virtual void	translateGL (const CCVector3 &trans)
	Translates current GL transformation by a rotation matrix. More...

virtual void	removeAllClipPlanes ()
	Removes all clipping planes (if any) More...

virtual bool	addClipPlanes (const ccClipPlane &plane)
	Registers a new clipping plane. More...

virtual void	toggleClipPlanes (CC_DRAW_CONTEXT &context, bool enable)
	Enables or disables clipping planes (OpenGL) More...

virtual void	applyDisplayState (const DisplayState &state)
	Applies a display state. More...

Public Member Functions inherited from cloudViewer::utility::IJsonConvertible
virtual	~IJsonConvertible ()

virtual std::string	ToString () const
	Convert to a styled string representation of JSON data for display. More...

Static Public Member Functions
static bool	IsPointInBound (const Eigen::Vector3d &point, const Eigen::Vector3d &origin, const double &size)
	Return true if point within bound, that is, origin <= point < origin + size. More...

Static Public Member Functions inherited from ccHObject
static ccHObject *	New (CV_CLASS_ENUM objectType, const char *name=nullptr)
	Static factory. More...

static ccHObject *	New (const QString &pluginId, const QString &classId, const char *name=nullptr)
	Static factory (version to be used by external plugin factories) More...

static Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points)
	Compute min bound of a list points. More...

static Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points)
	Compute max bound of a list points. More...

static Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points)
	Computer center of a list of points. More...

static void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, std::size_t size, const Eigen::Vector3d &color)
	Resizes the colors vector and paints a uniform color. More...

static void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points)
	Transforms all points with the transformation matrix. More...

static void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals)
	Transforms the normals with the transformation matrix. More...

static void	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances)
	Transforms all covariance matrices with the transformation. More...

static void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative)
	Apply translation to the geometry coordinates. More...

static void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Scale the coordinates of all points by the scaling factor `scale`. More...

static void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Rotate all points with the rotation matrix `R`. More...

static void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals)
	Rotate all normals with the rotation matrix `R`. More...

static void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances)
	Rotate all covariance matrices with the rotation matrix `R`. More...

static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

static Eigen::Matrix3d	GetRotationMatrixFromEulerAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from Euler angle. More...

Static Public Member Functions inherited from ccObject
static unsigned	GetCurrentDBVersion ()
	Returns current database version. More...

static void	SetUniqueIDGenerator (ccUniqueIDGenerator::Shared generator)
	Sets the unique ID generator. More...

static ccUniqueIDGenerator::Shared	GetUniqueIDGenerator ()
	Returns the unique ID generator. More...

static unsigned	GetNextUniqueID ()
	Returns a new unassigned unique ID. More...

static unsigned	GetLastUniqueID ()
	Returns last assigned unique ID. More...

static CV_CLASS_ENUM	ReadClassIDFromFile (QFile &in, short dataVersion)
	Helper: reads out class ID from a binary stream. More...

Static Public Member Functions inherited from ccSerializableObject
static bool	WriteError ()
	Sends a custom error message (write error) and returns 'false'. More...

static bool	ReadError ()
	Sends a custom error message (read error) and returns 'false'. More...

static bool	MemoryError ()
	Sends a custom error message (not enough memory) and returns 'false'. More...

static bool	CorruptError ()
	Sends a custom error message (corrupted file) and returns 'false'. More...

Static Public Member Functions inherited from cloudViewer::utility::IJsonConvertible
static bool	EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value)

static bool	EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value)

static bool	EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value)

static bool	EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value)

static bool	EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value)

static bool	EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value)

static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value)

static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value)

static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value)

static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value)

static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value)

static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value)

static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value)

static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value)

Public Attributes
std::shared_ptr< OctreeNode >	root_node_ = nullptr
	Root of the octree. More...

Eigen::Vector3d	origin_

double	size_

size_t	max_depth_

Additional Inherited Members
Public Types inherited from ccHObject
enum	DEPENDENCY_FLAGS { DP_NONE = 0 , DP_NOTIFY_OTHER_ON_DELETE = 1 , DP_NOTIFY_OTHER_ON_UPDATE , DP_DELETE_OTHER = 8 , DP_PARENT_OF_OTHER = 24 }
	Dependency flags. More...

enum	SelectionBehavior { SELECTION_AA_BBOX , SELECTION_FIT_BBOX , SELECTION_IGNORED }
	Behavior when selected. More...

using	Container = std::vector< ccHObject * >
	Standard instances container (for children, etc.) More...

using	Shared = QSharedPointer< ccHObject >
	Shared pointer. More...

using	SharedContainer = std::vector< Shared >
	Shared instances container (for children, etc.) More...

using	GlobalBoundingBox = cloudViewer::BoundingBoxTpl< double >
	Global (non-shifted) bounding-box. More...

Public Types inherited from ccSerializableObject
enum	DeserializationFlags { DF_POINT_COORDS_64_BITS , DF_SCALAR_VAL_32_BITS = 2 }
	Deserialization flags (bit-field) More...

typedef QMultiMap< unsigned, unsigned >	LoadedIDMap
	Map of loaded unique IDs (old ID --> new ID) More...

Protected Member Functions inherited from ccHObject
virtual void	setParent (ccHObject *anObject)
	Sets parent object. More...

virtual void	drawMeOnly (CC_DRAW_CONTEXT &context)
	Draws the entity only (not its children) More...

virtual void	applyGLTransformation (const ccGLMatrix &trans)
	Applies a GL transformation to the entity. More...

virtual bool	toFile_MeOnly (QFile &out, short dataVersion) const
	Save own object data. More...

virtual bool	fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Loads own object data. More...

virtual short	minimumFileVersion_MeOnly () const

virtual void	drawNameIn3D ()
	Draws the entity name in 3D. More...

virtual void	onDeletionOf (const ccHObject *obj)
	This method is called when another object is deleted. More...

virtual void	onUpdateOf (ccHObject *obj)
	This method is called when another object (geometry) is updated. More...

Protected Member Functions inherited from ccObject
virtual bool	getFlagState (CV_OBJECT_FLAG flag) const
	Returns flag state. More...

virtual void	setFlagState (CV_OBJECT_FLAG flag, bool state)
	Sets flag state. More...

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Reimplemented from ccSerializableObject::fromFile. More...

Protected Attributes inherited from ccHObject
ccHObject *	m_parent
	Parent. More...

Container	m_children
	Children. More...

SelectionBehavior	m_selectionBehavior
	Selection behavior. More...

std::map< ccHObject *, int >	m_dependencies
	Dependencies map. More...

ccGLMatrix	m_glTransHistory
	Cumulative GL transformation. More...

bool	m_isDeleting
	Flag to safely handle dependencies when the object is being deleted. More...

Protected Attributes inherited from ccObject
QString	m_name
	Object name. More...

QString	m_baseName

QString	m_filePath

bool	m_removeFlag

unsigned	m_flags
	Object flags. More...

QVariantMap	m_metaData
	Associated meta-data. More...

Protected Attributes inherited from ccDrawableObject
bool	m_fixedId

bool	m_modelRedraw

bool	m_forceRedraw

float	m_opacity

bool	m_visible
	Specifies whether the object is visible or not. More...

bool	m_selected
	Specifies whether the object is selected or not. More...

bool	m_lockedVisibility
	Specifies whether the visibility can be changed by user or not. More...

bool	m_colorsDisplayed
	Specifies whether colors should be displayed. More...

bool	m_normalsDisplayed
	Specifies whether normals should be displayed. More...

bool	m_sfDisplayed
	Specifies whether scalar field should be displayed. More...

ecvColor::Rgb	m_tempColor
	Temporary (unique) color. More...

bool	m_colorIsOverridden
	Temporary (unique) color activation state. More...

ccGLMatrix	m_glTrans
	Current GL transformation. More...

bool	m_glTransEnabled
	Current GL transformation activation state. More...

bool	m_showNameIn3D
	Whether name is displayed in 3D or not. More...

CCVector3d	m_nameIn3DPos
	Last 2D position of the '3D' name. More...

ccClipPlaneSet	m_clipPlanes
	Active clipping planes (used for display only) More...

std::vector< DisplayState::Shared >	m_displayStateStack
	The stack of pushed display states. More...

Detailed Description

Octree datastructure.

Definition at line 249 of file Octree.h.

Constructor & Destructor Documentation

◆ Octree() [1/4]

cloudViewer::geometry::Octree::Octree ( const char * name = "Octree2" )

inline

Default Constructor.

Definition at line 253 of file Octree.h.

◆ Octree() [2/4]

cloudViewer::geometry::Octree::Octree	(	const size_t &	max_depth,
		const char *	name = `"Octree2"`
	)

inline

Parameterized Constructor.

Parameters

max_depth Sets the value of the max depth of the Octree.

Definition at line 258 of file Octree.h.

◆ Octree() [3/4]

cloudViewer::geometry::Octree::Octree	(	const size_t &	max_depth,
		const Eigen::Vector3d &	origin,
		const double &	size,
		const char *	name = `"Octree2"`
	)

inline

Parameterized Constructor.

Parameters

max_depth	Sets the value of the max depth of the Octree.
origin	Sets the global min bound of the Octree.
size	Sets the outer bounding box edge size for the whole octree.

Definition at line 265 of file Octree.h.

◆ Octree() [4/4]

cloudViewer::geometry::Octree::Octree	(	const Octree &	src_octree,
		const char *	name = `"Octree2"`
	)

◆ ~Octree()

cloudViewer::geometry::Octree::~Octree ( )

inlineoverride

Definition at line 274 of file Octree.h.

Member Function Documentation

◆ Clear()

Octree& cloudViewer::geometry::Octree::Clear ( )

◆ ConvertFromJsonValue()

bool cloudViewer::geometry::Octree::ConvertFromJsonValue ( const Json::Value & value )

overridevirtual

Implements cloudViewer::utility::IJsonConvertible.

◆ ConvertFromPointCloud()

void cloudViewer::geometry::Octree::ConvertFromPointCloud	(	const ccPointCloud &	point_cloud,
		double	size_expand = `0.01`
	)

Convert octree from point cloud.

Parameters

point_cloud	Input point cloud.
size_expand	A small expansion size such that the octree is slightly bigger than the original point cloud bounds to accomodate all points.

◆ ConvertToJsonValue()

bool cloudViewer::geometry::Octree::ConvertToJsonValue ( Json::Value & value ) const

overridevirtual

Implements cloudViewer::utility::IJsonConvertible.

◆ CreateFromVoxelGrid()

void cloudViewer::geometry::Octree::CreateFromVoxelGrid ( const geometry::VoxelGrid & voxel_grid )

Convert from voxel grid.

◆ GetAxisAlignedBoundingBox()

virtual ccBBox cloudViewer::geometry::Octree::GetAxisAlignedBoundingBox ( ) const

overridevirtual

Returns an axis-aligned bounding box of the geometry.

Reimplemented from ccHObject.

◆ GetCenter()

virtual Eigen::Vector3d cloudViewer::geometry::Octree::GetCenter ( ) const

overridevirtual

Returns the center of the geometry coordinates.

Reimplemented from ccHObject.

◆ getClassID()

virtual CV_CLASS_ENUM cloudViewer::geometry::Octree::getClassID ( ) const

inlineoverridevirtual

Returns unique class ID.

Reimplemented from ccHObject.

Definition at line 280 of file Octree.h.

References CV_TYPES::POINT_OCTREE2.

◆ GetMaxBound()

virtual Eigen::Vector3d cloudViewer::geometry::Octree::GetMaxBound ( ) const

overridevirtual

Returns max bounds for geometry coordinates.

Reimplemented from ccHObject.

◆ GetMinBound()

virtual Eigen::Vector3d cloudViewer::geometry::Octree::GetMinBound ( ) const

overridevirtual

Returns min bounds for geometry coordinates.

Reimplemented from ccHObject.

◆ GetOrientedBoundingBox()

virtual ecvOrientedBBox cloudViewer::geometry::Octree::GetOrientedBoundingBox ( ) const

overridevirtual

Reimplemented from ccHObject.

◆ getOwnBB()

virtual ccBBox cloudViewer::geometry::Octree::getOwnBB ( bool withGLFeatures = false )

overridevirtual

Returns the entity's own bounding-box.

Children bboxes are ignored.

Parameters

withGLFeatures whether to take into account display-only elements (if any)

Returns: bounding-box

Reimplemented from ccHObject.

◆ InsertPoint()

void cloudViewer::geometry::Octree::InsertPoint	(	const Eigen::Vector3d &	point,
		const std::function< std::shared_ptr< OctreeLeafNode >()> &	fl_init,
		const std::function< void(std::shared_ptr< OctreeLeafNode >)> &	fl_update,
		const std::function< std::shared_ptr< OctreeInternalNode >()> &	fi_init = `nullptr`,
		const std::function< void(std::shared_ptr< OctreeInternalNode >)> &	fi_update = `nullptr`
	)

Insert a point to the octree.

Parameters

point	Coordinates of the point.
fl_init	Initialization fcn used to create new leaf node (if needed) associated with the point.
fl_update	Update fcn used to update the leaf node associated with the point.
fi_init	Initialize fcn used to create a new internal node (if needed) which is an ancestor of the point's leaf node. If omitted, the default OctreeInternalNode function is used.
fi_update	Update fcn used to update the internal node which is an ancestor of the point's leaf node. If omitted, the default OctreeInternalNode function is used.

◆ IsEmpty()

virtual bool cloudViewer::geometry::Octree::IsEmpty ( ) const

inlineoverridevirtual

Reimplemented from ccHObject.

Definition at line 288 of file Octree.h.

◆ IsPointInBound()

static bool cloudViewer::geometry::Octree::IsPointInBound	(	const Eigen::Vector3d &	point,
		const Eigen::Vector3d &	origin,
		const double &	size
	)

static

Return true if point within bound, that is, origin <= point < origin + size.

Parameters

point	Coordinates of the point.
origin	Origin coordinates.
size	Size of the Octree.

◆ isSerializable()

virtual bool cloudViewer::geometry::Octree::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccHObject.

Definition at line 277 of file Octree.h.

◆ LocateLeafNode()

std::pair<std::shared_ptr<OctreeLeafNode>, std::shared_ptr<OctreeNodeInfo> > cloudViewer::geometry::Octree::LocateLeafNode ( const Eigen::Vector3d & point ) const

Returns leaf OctreeNode and OctreeNodeInfo where the querypoint should reside.

Parameters

point Coordinates of the point.

◆ operator==()

bool cloudViewer::geometry::Octree::operator== ( const Octree & other ) const

Returns true if the Octree is completely the same, used for testing.

◆ Rotate()

virtual Octree& cloudViewer::geometry::Octree::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix $R$ , and center $c$ , a given point $p$ is transformed according to $R (p - c) + c$ .

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Reimplemented from ccHObject.

◆ Scale()

virtual Octree& cloudViewer::geometry::Octree::Scale	(	const double	s,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply scaling to the geometry coordinates. Given a scaling factor $s$ , and center $c$ , a given point $p$ is transformed according to $s (p - c) + c$ .

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	Scale center that is used to resize the geometry.

Reimplemented from ccHObject.

◆ ToVoxelGrid()

std::shared_ptr<geometry::VoxelGrid> cloudViewer::geometry::Octree::ToVoxelGrid ( ) const

Convert to VoxelGrid.

◆ Transform()

virtual Octree& cloudViewer::geometry::Octree::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

Apply transformation (4x4 matrix) to the geometry coordinates.

Reimplemented from ccHObject.

◆ Translate()

virtual Octree& cloudViewer::geometry::Octree::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
relative	If `true`, the `translation` is directly applied to the geometry. Otherwise, the geometry center is moved to the `translation`.

Reimplemented from ccHObject.

◆ Traverse() [1/2]

void cloudViewer::geometry::Octree::Traverse ( const std::function< bool(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> & f )

DFS traversal of Octree from the root, with callback function called for each node.

Parameters

f	Callback which fires with each traversed internal/leaf node. Arguments supply information about the node being traversed and other node-specific data. A Boolean return value is used for early-stopping. If f returns true, children of this node will not be traversed.

◆ Traverse() [2/2]

void cloudViewer::geometry::Octree::Traverse ( const std::function< bool(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> & f ) const

Const version of Traverse. DFS traversal of Octree from the root, with callback function called for each node.

Parameters

f	Callback which fires with each traversed internal/leaf node. Arguments supply information about the node being traversed and other node-specific data. A Boolean return value is used for early-stopping. If f returns true, children of this node will not be traversed.

Member Data Documentation

◆ max_depth_

size_t cloudViewer::geometry::Octree::max_depth_

Max depth of octree. The depth is defined as the distance from the deepest leaf node to root. A tree with only the root node has depth 0.

Definition at line 329 of file Octree.h.

◆ origin_

Eigen::Vector3d cloudViewer::geometry::Octree::origin_

Global min bound (include). A point is within bound iff origin_ <= point < origin_ + size_.

Definition at line 321 of file Octree.h.

◆ root_node_

std::shared_ptr<OctreeNode> cloudViewer::geometry::Octree::root_node_ = nullptr

Root of the octree.

Definition at line 317 of file Octree.h.

◆ size_

double cloudViewer::geometry::Octree::size_

Outer bounding box edge size for the whole octree. A point is within bound iff origin_ <= point < origin_ + size_.

Definition at line 325 of file Octree.h.

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

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

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Octree() [1/4]

◆ Octree() [2/4]

◆ Octree() [3/4]

◆ Octree() [4/4]

◆ ~Octree()

Member Function Documentation

◆ Clear()

◆ ConvertFromJsonValue()

◆ ConvertFromPointCloud()

◆ ConvertToJsonValue()

◆ CreateFromVoxelGrid()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ getClassID()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ getOwnBB()

◆ InsertPoint()

◆ IsEmpty()

◆ IsPointInBound()

◆ isSerializable()

◆ LocateLeafNode()

◆ operator==()

◆ Rotate()

◆ Scale()

◆ ToVoxelGrid()

◆ Transform()

◆ Translate()

◆ Traverse() [1/2]

◆ Traverse() [2/2]

Member Data Documentation

◆ max_depth_

◆ origin_

◆ root_node_

◆ size_