Open3D (C++ API)  0.16.1
KnnIndex.h
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26
27#pragma once
28
29#include "open3d/core/Dtype.h"
30#include "open3d/core/Tensor.h"
34
35namespace open3d {
36namespace core {
37namespace nns {
38
39#ifdef BUILD_CUDA_MODULE
40template <class T, class TIndex>
41void KnnSearchCUDA(const Tensor& points,
42 const Tensor& points_row_splits,
43 const Tensor& queries,
44 const Tensor& queries_row_splits,
45 int knn,
46 Tensor& neighbors_index,
47 Tensor& neighbors_row_splits,
48 Tensor& neighbors_distance);
49#endif
50
51class KnnIndex : public NNSIndex {
52public:
53 KnnIndex();
54
59 KnnIndex(const Tensor& dataset_points);
60 KnnIndex(const Tensor& dataset_points, const Dtype& index_dtype);
61 ~KnnIndex();
62 KnnIndex(const KnnIndex&) = delete;
63 KnnIndex& operator=(const KnnIndex&) = delete;
64
65public:
66 bool SetTensorData(const Tensor& dataset_points,
67 const Dtype& index_dtype = core::Int64) override;
68 bool SetTensorData(const Tensor& dataset_points,
69 const Tensor& points_row_splits,
70 const Dtype& index_dtype = core::Int64);
71 bool SetTensorData(const Tensor& dataset_points,
72 double radius,
73 const Dtype& index_dtype = core::Int64) override {
75 "[KnnIndex::SetTensorData with radius not implemented.");
76 }
77
78 std::pair<Tensor, Tensor> SearchKnn(const Tensor& query_points,
79 int knn) const override;
80
81 std::pair<Tensor, Tensor> SearchKnn(const Tensor& query_points,
82 const Tensor& queries_row_splits,
83 int knn) const;
84
85 std::tuple<Tensor, Tensor, Tensor> SearchRadius(const Tensor& query_points,
86 const Tensor& radii,
87 bool sort) const override {
88 utility::LogError("KnnIndex::SearchRadius not implemented.");
89 }
90
91 std::tuple<Tensor, Tensor, Tensor> SearchRadius(const Tensor& query_points,
92 const double radius,
93 bool sort) const override {
94 utility::LogError("KnnIndex::SearchRadius not implemented.");
95 }
96
97 std::tuple<Tensor, Tensor, Tensor> SearchHybrid(
98 const Tensor& query_points,
99 const double radius,
100 const int max_knn) const override {
101 utility::LogError("KnnIndex::SearchHybrid not implemented.");
102 }
103
104protected:
106};
107
108} // namespace nns
109} // namespace core
110} // namespace open3d
#define LogError(...)
Definition: Logging.h:67
Definition: Dtype.h:39
Definition: Tensor.h:51
Definition: KnnIndex.h:51
std::pair< Tensor, Tensor > SearchKnn(const Tensor &query_points, int knn) const override
Definition: KnnIndex.cpp:98
std::tuple< Tensor, Tensor, Tensor > SearchRadius(const Tensor &query_points, const double radius, bool sort) const override
Definition: KnnIndex.h:91
KnnIndex(const KnnIndex &)=delete
KnnIndex()
Definition: KnnIndex.cpp:38
std::tuple< Tensor, Tensor, Tensor > SearchHybrid(const Tensor &query_points, const double radius, const int max_knn) const override
Definition: KnnIndex.h:97
bool SetTensorData(const Tensor &dataset_points, const Dtype &index_dtype=core::Int64) override
Definition: KnnIndex.cpp:50
KnnIndex & operator=(const KnnIndex &)=delete
Tensor points_row_splits_
Definition: KnnIndex.h:105
~KnnIndex()
Definition: KnnIndex.cpp:48
bool SetTensorData(const Tensor &dataset_points, double radius, const Dtype &index_dtype=core::Int64) override
Definition: KnnIndex.h:71
std::tuple< Tensor, Tensor, Tensor > SearchRadius(const Tensor &query_points, const Tensor &radii, bool sort) const override
Definition: KnnIndex.h:85
Definition: NNSIndex.h:40
int points
Definition: FilePCD.cpp:73
const Dtype Int64
Definition: Dtype.cpp:66
Definition: PinholeCameraIntrinsic.cpp:35