Open3D (C++ API)  0.12.0
NeighborSearchCommon.h
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26 
27 #pragma once
28 
29 #include <nanoflann.hpp>
30 
31 #include "open3d/utility/MiniVec.h"
32 
33 namespace open3d {
34 namespace ml {
35 namespace impl {
36 
38 enum Metric { L1, L2, Linf };
39 
40 #ifdef __CUDACC__
41 #define HOST_DEVICE __host__ __device__
42 #else
43 #define HOST_DEVICE
44 #endif
45 
47 HOST_DEVICE inline size_t SpatialHash(int x, int y, int z) {
48  return x * 73856096 ^ y * 193649663 ^ z * 83492791;
49 }
50 
52  return SpatialHash(xyz[0], xyz[1], xyz[2]);
53 }
54 
60 template <class TVecf>
62  const TVecf& pos, const typename TVecf::Scalar_t& inv_voxel_size) {
63  TVecf ref_coord = pos * inv_voxel_size;
64 
65  utility::MiniVec<int, 3> voxel_index;
66  voxel_index = floor(ref_coord).template cast<int>();
67  return voxel_index;
68 }
69 #undef HOST_DEVICE
70 
72 template <class T>
73 class Adaptor {
74 public:
75  Adaptor(size_t num_points, const T* const data)
76  : num_points(num_points), data(data) {}
77 
78  inline size_t kdtree_get_point_count() const { return num_points; }
79 
80  inline T kdtree_get_pt(const size_t idx, int dim) const {
81  return data[3 * idx + dim];
82  }
83 
84  template <class BBOX>
85  bool kdtree_get_bbox(BBOX&) const {
86  return false;
87  }
88 
89 private:
90  size_t num_points;
91  const T* const data;
92 };
93 
94 template <int METRIC, class T>
96 
97 template <class T>
100 };
101 
102 template <class T>
105 };
106 
107 } // namespace impl
108 } // namespace ml
109 } // namespace open3d
#define HOST_DEVICE
Definition: NeighborSearchCommon.h:43
Definition: NanoFlannIndex.h:42
size_t kdtree_get_point_count() const
Definition: NeighborSearchCommon.h:78
Metric
Supported metrics.
Definition: NeighborSearchCommon.h:38
HOST_DEVICE utility::MiniVec< int, 3 > ComputeVoxelIndex(const TVecf &pos, const typename TVecf::Scalar_t &inv_voxel_size)
Definition: NeighborSearchCommon.h:61
Definition: NeighborSearchCommon.h:38
nanoflann::L2_Adaptor< T, Adaptor< T > > Adaptor_t
Definition: NeighborSearchCommon.h:99
FN_SPECIFIERS MiniVec< float, N > floor(const MiniVec< float, N > &a)
Definition: MiniVec.h:94
Definition: NeighborSearchCommon.h:38
Adaptor(size_t num_points, const T *const data)
Definition: NeighborSearchCommon.h:75
nanoflann::L1_Adaptor< T, Adaptor< T > > Adaptor_t
Definition: NeighborSearchCommon.h:104
Definition: NeighborSearchCommon.h:38
Definition: PinholeCameraIntrinsic.cpp:35
Definition: NanoFlannIndex.h:39
HOST_DEVICE size_t SpatialHash(int x, int y, int z)
Spatial hashing function for integer coordinates.
Definition: NeighborSearchCommon.h:47
T kdtree_get_pt(const size_t idx, int dim) const
Definition: NeighborSearchCommon.h:80
Definition: MiniVec.h:43
Definition: NeighborSearchCommon.h:95
bool kdtree_get_bbox(BBOX &) const
Definition: NeighborSearchCommon.h:85
Adaptor for nanoflann.
Definition: NeighborSearchCommon.h:73