Open3D (C++ API)  0.15.1
FixedRadiusIndex.h
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26
27#pragma once
28
29#include <vector>
30
31#include "open3d/core/Dtype.h"
32#include "open3d/core/Tensor.h"
35
36namespace open3d {
37namespace core {
38namespace nns {
39
67template <class T>
68void BuildSpatialHashTableCPU(const Tensor& points,
69 double radius,
70 const Tensor& points_row_splits,
71 const Tensor& hash_table_splits,
72 Tensor& hash_table_index,
73 Tensor& hash_table_cell_splits);
74
136template <class T>
137void FixedRadiusSearchCPU(const Tensor& points,
138 const Tensor& queries,
139 double radius,
140 const Tensor& points_row_splits,
141 const Tensor& queries_row_splits,
142 const Tensor& hash_table_splits,
143 const Tensor& hash_table_index,
144 const Tensor& hash_table_cell_splits,
145 const Metric metric,
146 const bool ignore_query_point,
147 const bool return_distances,
148 const bool sort,
149 Tensor& neighbors_index,
150 Tensor& neighbors_row_splits,
151 Tensor& neighbors_distance);
152
204template <class T>
205void HybridSearchCPU(const Tensor& points,
206 const Tensor& queries,
207 double radius,
208 int max_knn,
209 const Tensor& points_row_splits,
210 const Tensor& queries_row_splits,
211 const Tensor& hash_table_splits,
212 const Tensor& hash_table_index,
213 const Tensor& hash_table_cell_splits,
214 const Metric metric,
215 Tensor& neighbors_index,
216 Tensor& neighbors_count,
217 Tensor& neighbors_distance);
218
219#ifdef BUILD_CUDA_MODULE
245template <class T>
246void BuildSpatialHashTableCUDA(const Tensor& points,
247 double radius,
248 const Tensor& points_row_splits,
249 const Tensor& hash_table_splits,
250 Tensor& hash_table_index,
251 Tensor& hash_table_cell_splits);
252
253// Fixed radius search. This function computes a list of neighbor indices
314template <class T>
315void FixedRadiusSearchCUDA(const Tensor& points,
316 const Tensor& queries,
317 double radius,
318 const Tensor& points_row_splits,
319 const Tensor& queries_row_splits,
320 const Tensor& hash_table_splits,
321 const Tensor& hash_table_index,
322 const Tensor& hash_table_cell_splits,
323 const Metric metric,
324 const bool ignore_query_point,
325 const bool return_distances,
326 const bool sort,
327 Tensor& neighbors_index,
328 Tensor& neighbors_row_splits,
329 Tensor& neighbors_distance);
330
382template <class T>
383void HybridSearchCUDA(const Tensor& points,
384 const Tensor& queries,
385 double radius,
386 int max_knn,
387 const Tensor& points_row_splits,
388 const Tensor& queries_row_splits,
389 const Tensor& hash_table_splits,
390 const Tensor& hash_table_index,
391 const Tensor& hash_table_cell_splits,
392 const Metric metric,
393 Tensor& neighbors_index,
394 Tensor& neighbors_count,
395 Tensor& neighbors_distance);
396#endif
397
402public:
405
410 FixedRadiusIndex(const Tensor& dataset_points, double radius);
414
415public:
416 bool SetTensorData(const Tensor& dataset_points) override {
418 "FixedRadiusIndex::SetTensorData witout radius not "
419 "implemented.");
420 }
421
422 bool SetTensorData(const Tensor& dataset_points, double radius) override;
423 bool SetTensorData(const Tensor& dataset_points,
424 const Tensor& points_row_splits,
425 double radius);
426
427 std::pair<Tensor, Tensor> SearchKnn(const Tensor& query_points,
428 int knn) const override {
429 utility::LogError("FixedRadiusIndex::SearchKnn not implemented.");
430 }
431
432 std::tuple<Tensor, Tensor, Tensor> SearchRadius(
433 const Tensor& query_points,
434 const Tensor& radii,
435 bool sort = true) const override {
437 "FixedRadiusIndex::SearchRadius with multi-radii not "
438 "implemented.");
439 }
440
441 std::tuple<Tensor, Tensor, Tensor> SearchRadius(
442 const Tensor& query_points,
443 double radius,
444 bool sort = true) const override;
445 std::tuple<Tensor, Tensor, Tensor> SearchRadius(
446 const Tensor& query_points,
447 const Tensor& queries_row_splits,
448 double radius,
449 bool sort = true) const;
450
451 std::tuple<Tensor, Tensor, Tensor> SearchHybrid(const Tensor& query_points,
452 double radius,
453 int max_knn) const override;
454
455 std::tuple<Tensor, Tensor, Tensor> SearchHybrid(
456 const Tensor& query_points,
457 const Tensor& queries_row_splits,
458 double radius,
459 int max_knn) const;
460
461 const double hash_table_size_factor = 1.0 / 32;
462 const int64_t max_hash_tabls_size = 33554432;
463
464protected:
469};
470
471} // namespace nns
472} // namespace core
473} // namespace open3d
#define LogError(...)
Definition: Logging.h:67
Definition: Tensor.h:51
FixedRadiusIndex for nearest neighbor range search.
Definition: FixedRadiusIndex.h:401
FixedRadiusIndex(const FixedRadiusIndex &)=delete
Tensor hash_table_splits_
Definition: FixedRadiusIndex.h:466
const int64_t max_hash_tabls_size
Definition: FixedRadiusIndex.h:462
Tensor hash_table_cell_splits_
Definition: FixedRadiusIndex.h:467
bool SetTensorData(const Tensor &dataset_points) override
Definition: FixedRadiusIndex.h:416
Tensor points_row_splits_
Definition: FixedRadiusIndex.h:465
std::tuple< Tensor, Tensor, Tensor > SearchHybrid(const Tensor &query_points, double radius, int max_knn) const override
Definition: FixedRadiusIndex.cpp:195
Tensor hash_table_index_
Definition: FixedRadiusIndex.h:468
const double hash_table_size_factor
Definition: FixedRadiusIndex.h:461
~FixedRadiusIndex()
Definition: FixedRadiusIndex.cpp:45
FixedRadiusIndex()
Default Constructor.
Definition: FixedRadiusIndex.cpp:37
std::tuple< Tensor, Tensor, Tensor > SearchRadius(const Tensor &query_points, const Tensor &radii, bool sort=true) const override
Definition: FixedRadiusIndex.h:432
std::pair< Tensor, Tensor > SearchKnn(const Tensor &query_points, int knn) const override
Definition: FixedRadiusIndex.h:427
FixedRadiusIndex & operator=(const FixedRadiusIndex &)=delete
Definition: NNSIndex.h:40
int points
Definition: FilePCD.cpp:73
Metric
Supported metrics.
Definition: NeighborSearchCommon.h:38
void BuildSpatialHashTableCPU(const Tensor &points, double radius, const Tensor &points_row_splits, const Tensor &hash_table_splits, Tensor &hash_table_index, Tensor &hash_table_cell_splits)
Definition: FixedRadiusSearchOps.cpp:40
void HybridSearchCPU(const Tensor &points, const Tensor &queries, double radius, int max_knn, const Tensor &points_row_splits, const Tensor &queries_row_splits, const Tensor &hash_table_splits, const Tensor &hash_table_index, const Tensor &hash_table_cell_splits, const Metric metric, Tensor &neighbors_index, Tensor &neighbors_count, Tensor &neighbors_distance)
Definition: FixedRadiusSearchOps.cpp:93
void FixedRadiusSearchCPU(const Tensor &points, const Tensor &queries, double radius, const Tensor &points_row_splits, const Tensor &queries_row_splits, const Tensor &hash_table_splits, const Tensor &hash_table_index, const Tensor &hash_table_cell_splits, const Metric metric, const bool ignore_query_point, const bool return_distances, const bool sort, Tensor &neighbors_index, Tensor &neighbors_row_splits, Tensor &neighbors_distance)
Definition: FixedRadiusSearchOps.cpp:57
Definition: PinholeCameraIntrinsic.cpp:35