Open3D (C++ API)  0.18.0
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NearestNeighborSearch.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <vector>
11
12#include "open3d/core/Tensor.h"
17
18namespace open3d {
19namespace core {
20namespace nns {
21
26public:
31 // NearestNeighborSearch(const Tensor &dataset_points)
32 // : dataset_points_(dataset_points){};
33 NearestNeighborSearch(const Tensor &dataset_points,
34 const Dtype &index_dtype = core::Int32)
35 : dataset_points_(dataset_points), index_dtype_(index_dtype){};
39
40public:
44 bool KnnIndex();
45
49 bool MultiRadiusIndex();
50
56
60 bool HybridIndex(utility::optional<double> radius = {});
61
70 std::pair<Tensor, Tensor> KnnSearch(const Tensor &query_points, int knn);
71
85 std::tuple<Tensor, Tensor, Tensor> FixedRadiusSearch(
86 const Tensor &query_points, double radius, bool sort = true);
87
100 std::tuple<Tensor, Tensor, Tensor> MultiRadiusSearch(
101 const Tensor &query_points, const Tensor &radii);
102
115 std::tuple<Tensor, Tensor, Tensor> HybridSearch(const Tensor &query_points,
116 const double radius,
117 const int max_knn) const;
118
119private:
120 bool SetIndex();
121
123 void AssertNotCUDA(const Tensor &t) const;
124
125protected:
126 std::unique_ptr<NanoFlannIndex> nanoflann_index_;
127 std::unique_ptr<nns::FixedRadiusIndex> fixed_radius_index_;
128 std::unique_ptr<nns::KnnIndex> knn_index_;
131};
132} // namespace nns
133} // namespace core
134} // namespace open3d
Definition Dtype.h:20
Definition Tensor.h:32
FixedRadiusIndex for nearest neighbor range search.
Definition FixedRadiusIndex.h:382
A Class for nearest neighbor search.
Definition NearestNeighborSearch.h:25
bool MultiRadiusIndex()
Definition NearestNeighborSearch.cpp:38
NearestNeighborSearch(const NearestNeighborSearch &)=delete
std::unique_ptr< nns::KnnIndex > knn_index_
Definition NearestNeighborSearch.h:128
std::tuple< Tensor, Tensor, Tensor > HybridSearch(const Tensor &query_points, const double radius, const int max_knn) const
Definition NearestNeighborSearch.cpp:130
std::tuple< Tensor, Tensor, Tensor > FixedRadiusSearch(const Tensor &query_points, double radius, bool sort=true)
Definition NearestNeighborSearch.cpp:98
bool KnnIndex()
Definition NearestNeighborSearch.cpp:23
std::tuple< Tensor, Tensor, Tensor > MultiRadiusSearch(const Tensor &query_points, const Tensor &radii)
Definition NearestNeighborSearch.cpp:118
~NearestNeighborSearch()
Definition NearestNeighborSearch.cpp:16
const Tensor dataset_points_
Definition NearestNeighborSearch.h:129
NearestNeighborSearch & operator=(const NearestNeighborSearch &)=delete
std::unique_ptr< nns::FixedRadiusIndex > fixed_radius_index_
Definition NearestNeighborSearch.h:127
bool HybridIndex(utility::optional< double > radius={})
Definition NearestNeighborSearch.cpp:60
std::pair< Tensor, Tensor > KnnSearch(const Tensor &query_points, int knn)
Definition NearestNeighborSearch.cpp:79
std::unique_ptr< NanoFlannIndex > nanoflann_index_
Definition NearestNeighborSearch.h:126
const Dtype index_dtype_
Definition NearestNeighborSearch.h:130
NearestNeighborSearch(const Tensor &dataset_points, const Dtype &index_dtype=core::Int32)
Definition NearestNeighborSearch.h:33
Definition Optional.h:259
const Dtype Int32
Definition Dtype.cpp:46
Definition PinholeCameraIntrinsic.cpp:16