Open3D (C++ API)  0.12.0
NeighborSearchAllocator.h
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27 
29 #include "torch/script.h"
30 
31 // These classes implement functors that can be passed to the neighbor search
32 // functions.
33 
34 template <class T>
36 public:
37  NeighborSearchAllocator(torch::DeviceType device_type, int device_idx)
38  : device_type(device_type), device_idx(device_idx) {}
39 
40  void AllocIndices(int32_t** ptr, size_t num) {
41  neighbors_index = torch::empty(
42  {int64_t(num)}, torch::dtype(ToTorchDtype<int32_t>())
43  .device(device_type, device_idx));
44  *ptr = neighbors_index.data_ptr<int32_t>();
45  }
46 
47  void AllocDistances(T** ptr, size_t num) {
48  neighbors_distance = torch::empty(
49  {int64_t(num)}, torch::dtype(ToTorchDtype<T>())
50  .device(device_type, device_idx));
51  *ptr = neighbors_distance.data_ptr<T>();
52  }
53 
54  const int32_t* IndicesPtr() const {
55  return neighbors_index.data_ptr<int32_t>();
56  }
57 
58  const T* DistancesPtr() const { return neighbors_distance.data_ptr<T>(); }
59 
60  const torch::Tensor& NeighborsIndex() const { return neighbors_index; }
61  const torch::Tensor& NeighborsDistance() const {
62  return neighbors_distance;
63  }
64 
65 private:
66  torch::Tensor neighbors_index;
67  torch::Tensor neighbors_distance;
68  torch::DeviceType device_type;
69  int device_idx;
70 };
const torch::Tensor & NeighborsIndex() const
Definition: NeighborSearchAllocator.h:60
const int32_t * IndicesPtr() const
Definition: NeighborSearchAllocator.h:54
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t int32_t
Definition: K4aPlugin.cpp:398
void AllocDistances(T **ptr, size_t num)
Definition: NeighborSearchAllocator.h:47
NeighborSearchAllocator(torch::DeviceType device_type, int device_idx)
Definition: NeighborSearchAllocator.h:37
void AllocIndices(int32_t **ptr, size_t num)
Definition: NeighborSearchAllocator.h:40
Definition: NeighborSearchAllocator.h:35
const T * DistancesPtr() const
Definition: NeighborSearchAllocator.h:58
TorchDtype_t ToTorchDtype< int32_t >()
Definition: TorchHelper.h:90
const torch::Tensor & NeighborsDistance() const
Definition: NeighborSearchAllocator.h:61