Open3D (C++ API)  0.12.0
NearestNeighborSearch.h
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26 
27 #pragma once
28 
29 #include <vector>
30 
31 #include "open3d/core/Tensor.h"
36 
37 namespace open3d {
38 namespace core {
39 namespace nns {
40 
45 public:
50  NearestNeighborSearch(const Tensor &dataset_points)
51  : dataset_points_(dataset_points){};
52 
56 
57 public:
61  bool KnnIndex();
62 
66  bool MultiRadiusIndex();
67 
73 
77  bool HybridIndex();
78 
86  std::pair<Tensor, Tensor> KnnSearch(const Tensor &query_points, int knn);
87 
99  std::tuple<Tensor, Tensor, Tensor> FixedRadiusSearch(
100  const Tensor &query_points, double radius);
101 
113  std::tuple<Tensor, Tensor, Tensor> MultiRadiusSearch(
114  const Tensor &query_points, const Tensor &radii);
115 
126  std::pair<Tensor, Tensor> HybridSearch(const Tensor &query_points,
127  double radius,
128  int max_knn);
129 
130 private:
131  bool SetIndex();
132 
134  void AssertNotCUDA(const Tensor &t) const;
135 
136 protected:
137  std::unique_ptr<NanoFlannIndex> nanoflann_index_;
138  std::unique_ptr<FaissIndex> faiss_index_;
139  std::unique_ptr<nns::FixedRadiusIndex> fixed_radius_index_;
141 };
142 } // namespace nns
143 } // namespace core
144 } // namespace open3d
bool FixedRadiusIndex(utility::optional< double > radius={})
Definition: NearestNeighborSearch.cpp:60
std::unique_ptr< FaissIndex > faiss_index_
Definition: NearestNeighborSearch.h:138
NearestNeighborSearch & operator=(const NearestNeighborSearch &)=delete
std::unique_ptr< NanoFlannIndex > nanoflann_index_
Definition: NearestNeighborSearch.h:137
std::tuple< Tensor, Tensor, Tensor > FixedRadiusSearch(const Tensor &query_points, double radius)
Definition: NearestNeighborSearch.cpp:112
std::tuple< Tensor, Tensor, Tensor > MultiRadiusSearch(const Tensor &query_points, const Tensor &radii)
Definition: NearestNeighborSearch.cpp:133
A Class for nearest neighbor search.
Definition: NearestNeighborSearch.h:44
std::pair< Tensor, Tensor > HybridSearch(const Tensor &query_points, double radius, int max_knn)
Definition: NearestNeighborSearch.cpp:154
Definition: Optional.h:54
std::pair< Tensor, Tensor > KnnSearch(const Tensor &query_points, int knn)
Definition: NearestNeighborSearch.cpp:97
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Tensor.h:48
~NearestNeighborSearch()
Definition: NearestNeighborSearch.cpp:36
std::unique_ptr< nns::FixedRadiusIndex > fixed_radius_index_
Definition: NearestNeighborSearch.h:139
bool HybridIndex()
Definition: NearestNeighborSearch.cpp:82
NearestNeighborSearch(const Tensor &dataset_points)
Definition: NearestNeighborSearch.h:50
bool MultiRadiusIndex()
Definition: NearestNeighborSearch.cpp:58
bool KnnIndex()
Definition: NearestNeighborSearch.cpp:43
const Tensor dataset_points_
Definition: NearestNeighborSearch.h:140