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

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

#include <Rtree.h>

Inheritance diagram for carla::geom::SegmentCloudRtree< T, Dimension >:

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

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. More...
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. More...
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.

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.

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.

GetTreeSize()

template<typename T, size_t Dimension = 3>

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

inline

Definition at line 143 of file Rtree.h.

InsertElement() [1/2]

template<typename T, size_t Dimension = 3>

void carla::geom::SegmentCloudRtree< T, Dimension >::InsertElement ( const BSegment &  segment, const T &  element_start, const T &  element_end  )

inline

Definition at line 93 of file Rtree.h.

InsertElement() [2/2]

template<typename T, size_t Dimension = 3>

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

inline

Definition at line 97 of file Rtree.h.

InsertElements()

template<typename T, size_t Dimension = 3>

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

inline

Definition at line 101 of file Rtree.h.

Member Data Documentation

_rtree

template<typename T, size_t Dimension = 3>

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

private

Definition at line 149 of file Rtree.h.

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

• Rtree.h