FixedRadiusIndex.h

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// The MIT License (MIT)
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#pragma once

#include <vector>

#include "open3d/core/Dtype.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/nns/NNSIndex.h"

namespace open3d {
namespace core {
namespace nns {

class FixedRadiusIndex : public NNSIndex {
public:
    FixedRadiusIndex();

    FixedRadiusIndex(const Tensor& dataset_points, double radius);
    ~FixedRadiusIndex();
    FixedRadiusIndex(const FixedRadiusIndex&) = delete;
    FixedRadiusIndex& operator=(const FixedRadiusIndex&) = delete;

public:
    bool SetTensorData(const Tensor& dataset_points) override {
        utility::LogError(
                "FixedRadiusIndex::SetTensorData witout radius not "
                "implemented.");
    }

    bool SetTensorData(const Tensor& dataset_points, double radius) override;

    std::pair<Tensor, Tensor> SearchKnn(const Tensor& query_points,
                                        int knn) const override {
        utility::LogError("FixedRadiusIndex::SearchKnn not implemented.");
    }

    std::tuple<Tensor, Tensor, Tensor> SearchRadius(
            const Tensor& query_points, const Tensor& radii) const override {
        utility::LogError(
                "FixedRadiusIndex::SearchRadius with multi-radii not "
                "implemented.");
    }
    std::tuple<Tensor, Tensor, Tensor> SearchRadius(
            const Tensor& query_points, double radius) const override;

    std::pair<Tensor, Tensor> SearchHybrid(const Tensor& query_points,
                                           float radius,
                                           int max_knn) const override {
        utility::LogError("FixedRadiusIndex::SearchHybrid not implemented.");
    }

    const double hash_table_size_factor = 1 / 32;
    const int64_t max_hash_tabls_size = 10000;

protected:
    std::vector<int64_t> points_row_splits_;
    std::vector<uint32_t> hash_table_splits_;
    std::vector<uint32_t> out_hash_table_splits_;
    Tensor hash_table_cell_splits_;
    Tensor hash_table_index_;
};

template <class T>
class NeighborSearchAllocator {
public:
    NeighborSearchAllocator(Device device) : device_(device) {}

    void AllocIndices(int32_t** ptr, size_t num) {
        neighbors_index = Tensor::Empty({int64_t(num)}, Dtype::Int32, device_);
        *ptr = static_cast<int32_t*>(neighbors_index.GetDataPtr());
    }

    void AllocDistances(T** ptr, size_t num) {
        neighbors_distance =
                Tensor::Empty({int64_t(num)}, Dtype::FromType<T>(), device_);
        *ptr = static_cast<T*>(neighbors_distance.GetDataPtr());
    }

    const int32_t* IndicesPtr() const {
        return static_cast<const int32_t*>(neighbors_index.GetDataPtr());
    }

    const T* DistancesPtr() const {
        return static_cast<T*>(neighbors_distance.GetDataPtr());
    }

    const Tensor& NeighborsIndex() const { return neighbors_index; }
    const Tensor& NeighborsDistance() const { return neighbors_distance; }

private:
    Tensor neighbors_index;
    Tensor neighbors_distance;
    Device device_;
};
}  // namespace nns
}  // namespace core
}  // namespace open3d