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

#include <Rtree.h>

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

typedef boost::geometry::model::segment< BPoint >	BSegment

typedef std::pair< BSegment, std::pair< T, T > >	TreeElement

Public Member Functions
template<typename Geometry >
std::vector< TreeElement >	GetIntersections (const Geometry &geometry) const
	Returns segments that intersec the specified geometry Warning: intersection between 3D segments is not implemented by boost.

template<typename Geometry >
std::vector< TreeElement >	GetNearestNeighbours (const Geometry &geometry, size_t number_neighbours=1) const

template<typename Geometry , typename Filter >
std::vector< TreeElement >	GetNearestNeighboursWithFilter (const Geometry &geometry, Filter filter, size_t number_neighbours=1) const
	Return nearest neighbors with a user defined filter.

size_t	GetTreeSize () const

void	InsertElement (const BSegment &segment, const T &element_start, const T &element_end)

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::SegmentCloudRtree< T, Dimension >

Rtree class working with 3D segment clouds.

Stores a pair of T elements (one for each end of the segment) Useful to perform fast k-NN searches.

Definition at line 86 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::SegmentCloudRtree< T, Dimension >::BPoint

Definition at line 89 of file Rtree.h.

◆ BSegment

template<typename T , size_t Dimension = 3>

typedef boost::geometry::model::segment<BPoint> carla::geom::SegmentCloudRtree< T, Dimension >::BSegment

Definition at line 90 of file Rtree.h.

◆ TreeElement

template<typename T , size_t Dimension = 3>

typedef std::pair<BSegment, std::pair<T, T> > carla::geom::SegmentCloudRtree< T, Dimension >::TreeElement

Definition at line 91 of file Rtree.h.

Member Function Documentation

◆ GetIntersections()

template<typename T , size_t Dimension = 3>

template<typename Geometry >

std::vector< TreeElement > carla::geom::SegmentCloudRtree< T, Dimension >::GetIntersections ( const Geometry & geometry ) const

inline

Returns segments that intersec the specified geometry Warning: intersection between 3D segments is not implemented by boost.

Definition at line 135 of file Rtree.h.

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

Referenced by carla::road::Map::ComputeJunctionConflicts().

◆ GetNearestNeighbours()

template<typename T , size_t Dimension = 3>

template<typename Geometry >

std::vector< TreeElement > carla::geom::SegmentCloudRtree< T, Dimension >::GetNearestNeighbours	(	const Geometry &	geometry,
		size_t	number_neighbours = `1`
	)		const

inline

Definition at line 124 of file Rtree.h.

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

Referenced by carla::road::element::GeometryPoly3::PosFromDist(), and carla::road::element::GeometryParamPoly3::PosFromDist().

◆ GetNearestNeighboursWithFilter()

template<typename T , size_t Dimension = 3>

template<typename Geometry , typename Filter >

std::vector< TreeElement > carla::geom::SegmentCloudRtree< T, Dimension >::GetNearestNeighboursWithFilter	(	const Geometry &	geometry,
		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 111 of file Rtree.h.

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

Referenced by carla::road::Map::GetClosestWaypointOnRoad().