carla::geom::PointCloudRtree< T, Dimension > Class Template Reference

Rtree class working with 3D point clouds. More...

#include <Rtree.h>

Collaboration diagram for carla::geom::PointCloudRtree< T, Dimension >:

Public Types
typedef boost::geometry::model::point< float, Dimension, boost::geometry::cs::cartesian >	BPoint
typedef std::pair< BPoint, T >	TreeElement

Public Member Functions
std::vector< TreeElement >	GetNearestNeighbours (const BPoint &point, size_t number_neighbours=1) const
template<typename Filter >
std::vector< TreeElement >	GetNearestNeighboursWithFilter (const BPoint &point, Filter filter, size_t number_neighbours=1) const
	Return nearest neighbors with a user defined filter. More...
size_t	GetTreeSize () const
void	InsertElement (const BPoint &point, const T &element)
void	InsertElement (const TreeElement &element)
void	InsertElements (const std::vector< TreeElement > &elements)

Private Attributes
boost::geometry::index::rtree< TreeElement, boost::geometry::index::linear< 16 > >	_rtree

Detailed Description

template<typename T, size_t Dimension = 3>
class carla::geom::PointCloudRtree< T, Dimension >

Rtree class working with 3D point clouds.

Asociates a T element with a 3D point Useful to perform fast k-NN searches

Definition at line 30 of file Rtree.h.

Member Typedef Documentation

BPoint

template<typename T , size_t Dimension = 3>

typedef boost::geometry::model::point<float, Dimension, boost::geometry::cs::cartesian> carla::geom::PointCloudRtree< T, Dimension >::BPoint

Definition at line 33 of file Rtree.h.

TreeElement

template<typename T , size_t Dimension = 3>

typedef std::pair<BPoint, T> carla::geom::PointCloudRtree< T, Dimension >::TreeElement

Definition at line 34 of file Rtree.h.

Member Function Documentation

GetNearestNeighbours()

template<typename T , size_t Dimension = 3>

std::vector<TreeElement> carla::geom::PointCloudRtree< T, Dimension >::GetNearestNeighbours ( const BPoint &  point, size_t  number_neighbours = 1  ) const

inline

Definition at line 65 of file Rtree.h.

References carla::geom::PointCloudRtree< T, Dimension >::_rtree.

GetNearestNeighboursWithFilter()

template<typename T , size_t Dimension = 3>

template<typename Filter >

std::vector<TreeElement> carla::geom::PointCloudRtree< T, Dimension >::GetNearestNeighboursWithFilter ( const BPoint &  point, Filter  filter, size_t  number_neighbours = 1  ) const

inline

Return nearest neighbors with a user defined filter.

The filter reveices as an argument a TreeElement value and needs to return a bool to accept or reject the value [&](Rtree::TreeElement const &element){if (IsOk(element)) return true; else return false;}

Definition at line 54 of file Rtree.h.

References carla::geom::PointCloudRtree< T, Dimension >::_rtree.

GetTreeSize()

template<typename T , size_t Dimension = 3>

size_t carla::geom::PointCloudRtree< T, Dimension >::GetTreeSize ( ) const

inline

Definition at line 72 of file Rtree.h.

References carla::geom::PointCloudRtree< T, Dimension >::_rtree.

InsertElement() [1/2]

template<typename T , size_t Dimension = 3>

void carla::geom::PointCloudRtree< T, Dimension >::InsertElement ( const BPoint &  point, const T &  element  )

inline

Definition at line 36 of file Rtree.h.

References carla::geom::PointCloudRtree< T, Dimension >::_rtree.

InsertElement() [2/2]

template<typename T , size_t Dimension = 3>

void carla::geom::PointCloudRtree< T, Dimension >::InsertElement ( const TreeElement &  element )

inline

Definition at line 40 of file Rtree.h.

References carla::geom::PointCloudRtree< T, Dimension >::_rtree.

InsertElements()

template<typename T , size_t Dimension = 3>

void carla::geom::PointCloudRtree< T, Dimension >::InsertElements ( const std::vector< TreeElement > &  elements )

inline

Definition at line 44 of file Rtree.h.

References carla::geom::PointCloudRtree< T, Dimension >::_rtree.

Member Data Documentation

_rtree

template<typename T , size_t Dimension = 3>

boost::geometry::index::rtree<TreeElement, boost::geometry::index::linear<16> > carla::geom::PointCloudRtree< T, Dimension >::_rtree

private

Definition at line 78 of file Rtree.h.

Referenced by carla::geom::SegmentCloudRtree< Waypoint >::GetIntersections(), carla::geom::PointCloudRtree< T, Dimension >::GetNearestNeighbours(), carla::geom::SegmentCloudRtree< Waypoint >::GetNearestNeighbours(), carla::geom::PointCloudRtree< T, Dimension >::GetNearestNeighboursWithFilter(), carla::geom::SegmentCloudRtree< Waypoint >::GetNearestNeighboursWithFilter(), carla::geom::PointCloudRtree< T, Dimension >::GetTreeSize(), carla::geom::SegmentCloudRtree< Waypoint >::GetTreeSize(), carla::geom::PointCloudRtree< T, Dimension >::InsertElement(), carla::geom::SegmentCloudRtree< Waypoint >::InsertElement(), carla::geom::PointCloudRtree< T, Dimension >::InsertElements(), and carla::geom::SegmentCloudRtree< Waypoint >::InsertElements().

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

• Rtree.h