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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#ifndef CC_OCTREE_HEADER
#define CC_OCTREE_HEADER
//Local
#include "ccGenericGLDisplay.h"
#include "ccHObject.h"
//CCLib
#include <DgmOctree.h>
#include <ReferenceCloud.h>
//Qt
#include <QObject>
class ccGenericPointCloud;
class ccOctreeFrustumIntersector;
class ccCameraSensor;
//! Octree structure
/** Extends the CCLib::DgmOctree class.
**/
class QCC_DB_LIB_API ccOctree : public QObject, public CCLib::DgmOctree
{
Q_OBJECT
public: //GENERAL METHODS
//! Shared pointer
typedef QSharedPointer<ccOctree> Shared;
//! Default constructor
/** \param cloud a point cloud
**/
explicit ccOctree(ccGenericPointCloud* cloud);
//! Destructor
virtual ~ccOctree();
//! Multiplies the bounding-box of the octree
/** If the cloud coordinates are simply multiplied by the same factor,
there is no use in recomputing the octree structure. It's sufficient
to update its bounding-box.
\param multFactor multiplication factor
**/
void multiplyBoundingBox(const PointCoordinateType multFactor);
//! Translates the bounding-box of the octree
/** If the cloud has been simply translated, there is no use to recompute
the octree structure. It's sufficient to update its bounding-box.
\param T translation vector
**/
void translateBoundingBox(const CCVector3& T);
//! Returns the octree (square) bounding-box
ccBBox getSquareBB() const;
//! Returns the points bounding-box
ccBBox getPointsBB() const;
//inherited from DgmOctree
virtual void clear() override;
public: //RENDERING
//! Returns the currently displayed octree level
int getDisplayedLevel() const { return m_displayedLevel; }
//! Sets the currently displayed octree level
void setDisplayedLevel(int level);
//! Octree displaying methods
enum DisplayMode {
WIRE = 0, /**< The octree is displayed as wired boxes (one box per cell) */
MEAN_POINTS = 1, /**< The octree is displayed as points (one point per cell = the center of gravity of the points lying in it) */
MEAN_CUBES = 2 /**< The octree is displayed as plain 3D cubes (one cube per cell) */
};
//! Returns the currently display mode
DisplayMode getDisplayMode() const { return m_displayMode; }
//! Sets the currently display mode
void setDisplayMode(DisplayMode mode);
//! Draws the octree
void draw(CC_DRAW_CONTEXT& context);
//! Intersects octree with a camera sensor
bool intersectWithFrustum( ccCameraSensor* sensor,
std::vector<unsigned>& inCameraFrustum);
//! Octree-driven point picking algorithm
bool pointPicking( const CCVector2d& clickPos,
const ccGLCameraParameters& camera,
PointDescriptor& output,
double pickWidth_pix = 3.0) const;
public: //HELPERS
//! Computes the average color of a set of points
static void ComputeAverageColor(CCLib::ReferenceCloud* subset,
ccGenericPointCloud* sourceCloud,
ColorCompType meanCol[]);
//! Computes the average normal of a set of points
static CCVector3 ComputeAverageNorm(CCLib::ReferenceCloud* subset,
ccGenericPointCloud* sourceCloud);
signals:
//! Signal sent when the octree organization is modified (cleared, etc.)
void updated();
protected: ////RENDERING
static bool DrawCellAsABox( const CCLib::DgmOctree::octreeCell& cell,
void** additionalParameters,
CCLib::NormalizedProgress* nProgress = 0);
static bool DrawCellAsAPoint( const CCLib::DgmOctree::octreeCell& cell,
void** additionalParameters,
CCLib::NormalizedProgress* nProgress = 0);
static bool DrawCellAsAPrimitive( const CCLib::DgmOctree::octreeCell& cell,
void** additionalParameters,
CCLib::NormalizedProgress* nProgress = 0);
protected: //MEMBERS
//! Associated cloud (as a ccGenericPointCloud)
ccGenericPointCloud* m_theAssociatedCloudAsGPC;
//! Displayed level
int m_displayedLevel;
//! Display mode
DisplayMode m_displayMode;
//! OpenGL display list
GLuint m_glListID;
//! Whether the display (list) should be refreshed or not
bool m_glListIsDeprecated;
//! For frustum intersection
ccOctreeFrustumIntersector* m_frustumIntersector;
};
#endif //CC_OCTREE_HEADER
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