open3d.ml.tf.models.build_spatial_hash_table

open3d.ml.tf.models.build_spatial_hash_table(points, radius, points_row_splits, hash_table_size_factor, max_hash_table_size=33554432, name=None)

Creates a spatial hash table meant as input for fixed_radius_search

The following example shows how build_spatial_hash_table and fixed_radius_search are used together:

import open3d.ml.tf as ml3d

points = [
  [0.1,0.1,0.1],
  [0.5,0.5,0.5],
  [1.7,1.7,1.7],
  [1.8,1.8,1.8],
  [0.3,2.4,1.4]]

queries = [
    [1.0,1.0,1.0],
    [0.5,2.0,2.0],
    [0.5,2.1,2.1],
]

radius = 1.0

# build the spatial hash table for fixex_radius_search
table = ml3d.ops.build_spatial_hash_table(points,
                                          radius,
                                          points_row_splits=torch.LongTensor([0,5]),
                                          hash_table_size_factor=1/32)

# now run the fixed radius search
ml3d.ops.fixed_radius_search(points,
                             queries,
                             radius,
                             points_row_splits=torch.LongTensor([0,5]),
                             queries_row_splits=torch.LongTensor([0,3]),
                             **table._asdict())
# returns neighbors_index      = [1, 4, 4]
#         neighbors_row_splits = [0, 1, 2, 3]
#         neighbors_distance   = []

# or with pytorch
import torch
import open3d.ml.torch as ml3d

points = torch.Tensor([
  [0.1,0.1,0.1],
  [0.5,0.5,0.5],
  [1.7,1.7,1.7],
  [1.8,1.8,1.8],
  [0.3,2.4,1.4]])

queries = torch.Tensor([
    [1.0,1.0,1.0],
    [0.5,2.0,2.0],
    [0.5,2.1,2.1],
])

radius = 1.0

# build the spatial hash table for fixex_radius_search
table = ml3d.ops.build_spatial_hash_table(points,
                                          radius,
                                          points_row_splits=torch.LongTensor([0,5]),
                                          hash_table_size_factor=1/32)

# now run the fixed radius search
ml3d.ops.fixed_radius_search(points,
                             queries,
                             radius,
                             points_row_splits=torch.LongTensor([0,5]),
                             queries_row_splits=torch.LongTensor([0,3]),
                             **table._asdict())
# returns neighbors_index      = [1, 4, 4]
#         neighbors_row_splits = [0, 1, 2, 3]
#         neighbors_distance   = []

Parameters

• points – A Tensor. Must be one of the following types: float32, float64. The 3D positions of the input points.

• radius – A Tensor. Must have the same type as points. A scalar which defines the spatial cell size of the hash table.

• points_row_splits – A Tensor of type int64. 1D vector with the row splits information if points is batched. This vector is [0, num_points] if there is only 1 batch item.

• hash_table_size_factor – A Tensor of type float64. The size of the hash table as a factor of the number of input points.

• max_hash_table_size – An optional int. Defaults to 33554432. The maximum hash table size.

• name – A name for the operation (optional).

Returns

A tuple of Tensor objects (hash_table_index, hash_table_cell_splits, hash_table_splits).

hash_table_index: A Tensor of type uint32. Stores the values of the hash table, which are the indices of

the points. The start and end of each cell is defined by hash_table_cell_splits.

hash_table_cell_splits: A Tensor of type uint32. Defines the start and end of each hash table cell within

a hash table.

hash_table_splits: A Tensor of type uint32. Defines the start and end of each hash table in the

hash_table_cell_splits array. If the batch size is 1 then there is only one hash table and this vector is [0, number of cells].