Method render

outofcore/src/visualization/outofcore_cloud.cpp:159–305

}

void
OutofcoreCloud::render (vtkRenderer* renderer)
{
  vtkSmartPointer<vtkCamera> active_camera = renderer->GetActiveCamera ();

  Scene *scene = Scene::instance ();
  Camera *camera = scene->getCamera (active_camera);

  if (render_camera_ != nullptr && render_camera_->getName() == camera->getName ())
  {
    renderer->ComputeAspect ();
    //double *aspect = renderer->GetAspect ();
    int *size = renderer->GetSize ();

    OctreeDisk::BreadthFirstIterator breadth_first_it (*octree_);
    breadth_first_it.setMaxDepth(display_depth_);

    double frustum[24];
    camera->getFrustum(frustum);

    Eigen::Vector3d eye = camera->getPosition();
    Eigen::Matrix4d view_projection_matrix = camera->getViewProjectionMatrix();
    //Eigen::Matrix4d view_projection_matrix = projection_matrix * model_view_matrix;//camera->getViewProjectionMatrix();

    cloud_actors_->RemoveAllItems ();

    while ( *breadth_first_it !=nullptr )
    {
      OctreeDiskNode *node = *breadth_first_it;

      Eigen::Vector3d min_bb, max_bb;
      node->getBoundingBox(min_bb, max_bb);

      // Frustum culling
      if (pcl::visualization::cullFrustum(frustum, min_bb, max_bb) == pcl::visualization::PCL_OUTSIDE_FRUSTUM)
      {
        breadth_first_it.skipChildVoxels();
        breadth_first_it++;
        continue;
      }

      // Bounding box lod projection
      float coverage = pcl::visualization::viewScreenArea(eye, min_bb, max_bb, view_projection_matrix, size[0], size[1]);
      if (coverage <= lod_pixel_threshold_)
      {
        breadth_first_it.skipChildVoxels();
      }

//      for (int i=0; i < node->getDepth(); i++)
//        std::cout << " ";
//      std::cout << coverage << "-" << pcd_file << std::endl;//" : " << (coverage > (size[0] * size[1])) << std::endl;

      std::string pcd_file = node->getPCDFilename ().string ();

      cloud_data_cache_mutex.lock();

      PcdQueueItem pcd_queue_item(pcd_file, coverage);