Open3D (C++ API)  0.16.1
NearestNeighborSearch.h
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26
27#pragma once
28
29#include <vector>
30
31#include "open3d/core/Tensor.h"
36
37namespace open3d {
38namespace core {
39namespace nns {
40
45public:
50 // NearestNeighborSearch(const Tensor &dataset_points)
51 // : dataset_points_(dataset_points){};
52 NearestNeighborSearch(const Tensor &dataset_points,
53 const Dtype &index_dtype = core::Int32)
54 : dataset_points_(dataset_points), index_dtype_(index_dtype){};
58
59public:
63 bool KnnIndex();
64
68 bool MultiRadiusIndex();
69
75
79 bool HybridIndex(utility::optional<double> radius = {});
80
89 std::pair<Tensor, Tensor> KnnSearch(const Tensor &query_points, int knn);
90
104 std::tuple<Tensor, Tensor, Tensor> FixedRadiusSearch(
105 const Tensor &query_points, double radius, bool sort = true);
106
119 std::tuple<Tensor, Tensor, Tensor> MultiRadiusSearch(
120 const Tensor &query_points, const Tensor &radii);
121
134 std::tuple<Tensor, Tensor, Tensor> HybridSearch(const Tensor &query_points,
135 const double radius,
136 const int max_knn) const;
137
138private:
139 bool SetIndex();
140
142 void AssertNotCUDA(const Tensor &t) const;
143
144protected:
145 std::unique_ptr<NanoFlannIndex> nanoflann_index_;
146 std::unique_ptr<nns::FixedRadiusIndex> fixed_radius_index_;
147 std::unique_ptr<nns::KnnIndex> knn_index_;
150};
151} // namespace nns
152} // namespace core
153} // namespace open3d
Definition: Dtype.h:39
Definition: Tensor.h:51
A Class for nearest neighbor search.
Definition: NearestNeighborSearch.h:44
bool MultiRadiusIndex()
Definition: NearestNeighborSearch.cpp:57
NearestNeighborSearch(const NearestNeighborSearch &)=delete
std::unique_ptr< nns::KnnIndex > knn_index_
Definition: NearestNeighborSearch.h:147
std::tuple< Tensor, Tensor, Tensor > HybridSearch(const Tensor &query_points, const double radius, const int max_knn) const
Definition: NearestNeighborSearch.cpp:149
bool FixedRadiusIndex(utility::optional< double > radius={})
Definition: NearestNeighborSearch.cpp:59
std::tuple< Tensor, Tensor, Tensor > FixedRadiusSearch(const Tensor &query_points, double radius, bool sort=true)
Definition: NearestNeighborSearch.cpp:117
bool KnnIndex()
Definition: NearestNeighborSearch.cpp:42
std::tuple< Tensor, Tensor, Tensor > MultiRadiusSearch(const Tensor &query_points, const Tensor &radii)
Definition: NearestNeighborSearch.cpp:137
~NearestNeighborSearch()
Definition: NearestNeighborSearch.cpp:35
const Tensor dataset_points_
Definition: NearestNeighborSearch.h:148
NearestNeighborSearch & operator=(const NearestNeighborSearch &)=delete
std::unique_ptr< nns::FixedRadiusIndex > fixed_radius_index_
Definition: NearestNeighborSearch.h:146
bool HybridIndex(utility::optional< double > radius={})
Definition: NearestNeighborSearch.cpp:79
std::pair< Tensor, Tensor > KnnSearch(const Tensor &query_points, int knn)
Definition: NearestNeighborSearch.cpp:98
std::unique_ptr< NanoFlannIndex > nanoflann_index_
Definition: NearestNeighborSearch.h:145
const Dtype index_dtype_
Definition: NearestNeighborSearch.h:149
NearestNeighborSearch(const Tensor &dataset_points, const Dtype &index_dtype=core::Int32)
Definition: NearestNeighborSearch.h:52
Definition: Optional.h:278
const Dtype Int32
Definition: Dtype.cpp:65
Definition: PinholeCameraIntrinsic.cpp:35