ecvKdTree.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// cloudViewer
#include <TrueKdTree.h>
 
// Local
#include "ecvHObject.h"
 
// System
#include <unordered_set>
 
class ccGenericPointCloud;
 
 
class CV_DB_LIB_API ccKdTree : public cloudViewer::TrueKdTree,
                               public ccHObject {
public:
 
    explicit ccKdTree(ccGenericPointCloud* aCloud);
 
 
    void multiplyBoundingBox(const PointCoordinateType multFactor);
 
 
    void translateBoundingBox(const CCVector3& T);
 
    virtual CV_CLASS_ENUM getClassID() const override {
        return CV_TYPES::POINT_KDTREE;
    }
 
    // Inherited from ccHObject
    virtual ccBBox getOwnBB(bool withGLFeatures = false) override;
 
    bool convertCellIndexToSF();
    bool convertCellIndexToRandomColor();
 
    ccBBox getCellBBox(BaseNode* node) const;
 
    typedef std::unordered_set<Leaf*> LeafSet;
 
    bool getNeighborLeaves(BaseNode* cell,
                           ccKdTree::LeafSet& neighbors,
                           const int* userDataFilter = 0);
 
    inline ccGenericPointCloud* associatedGenericCloud() const {
        return m_associatedGenericCloud;
    }
 
protected:
    // Inherited from ccHObject
    virtual void drawMeOnly(CC_DRAW_CONTEXT& context) override;
 
    ccGenericPointCloud* m_associatedGenericCloud;
};