FixedRadiusIndex.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <vector>
 
#include "open3d/core/Dtype.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/nns/NNSIndex.h"
#include "open3d/core/nns/NeighborSearchCommon.h"
 
namespace open3d {
namespace core {
namespace nns {
 
template <class T>
void BuildSpatialHashTableCPU(const Tensor& points,
                              double radius,
                              const Tensor& points_row_splits,
                              const Tensor& hash_table_splits,
                              Tensor& hash_table_index,
                              Tensor& hash_table_cell_splits);
 
template <class T, class TIndex>
void FixedRadiusSearchCPU(const Tensor& points,
                          const Tensor& queries,
                          double radius,
                          const Tensor& points_row_splits,
                          const Tensor& queries_row_splits,
                          const Tensor& hash_table_splits,
                          const Tensor& hash_table_index,
                          const Tensor& hash_table_cell_splits,
                          const Metric metric,
                          const bool ignore_query_point,
                          const bool return_distances,
                          const bool sort,
                          Tensor& neighbors_index,
                          Tensor& neighbors_row_splits,
                          Tensor& neighbors_distance);
 
template <class T, class TIndex>
void HybridSearchCPU(const Tensor& points,
                     const Tensor& queries,
                     double radius,
                     int max_knn,
                     const Tensor& points_row_splits,
                     const Tensor& queries_row_splits,
                     const Tensor& hash_table_splits,
                     const Tensor& hash_table_index,
                     const Tensor& hash_table_cell_splits,
                     const Metric metric,
                     Tensor& neighbors_index,
                     Tensor& neighbors_count,
                     Tensor& neighbors_distance);
 
#ifdef BUILD_CUDA_MODULE
template <class T>
void BuildSpatialHashTableCUDA(const Tensor& points,
                               double radius,
                               const Tensor& points_row_splits,
                               const Tensor& hash_table_splits,
                               Tensor& hash_table_index,
                               Tensor& hash_table_cell_splits);
 
// Fixed radius search. This function computes a list of neighbor indices
template <class T, class TIndex>
void FixedRadiusSearchCUDA(const Tensor& points,
                           const Tensor& queries,
                           double radius,
                           const Tensor& points_row_splits,
                           const Tensor& queries_row_splits,
                           const Tensor& hash_table_splits,
                           const Tensor& hash_table_index,
                           const Tensor& hash_table_cell_splits,
                           const Metric metric,
                           const bool ignore_query_point,
                           const bool return_distances,
                           const bool sort,
                           Tensor& neighbors_index,
                           Tensor& neighbors_row_splits,
                           Tensor& neighbors_distance);
 
template <class T, class TIndex>
void HybridSearchCUDA(const Tensor& points,
                      const Tensor& queries,
                      double radius,
                      int max_knn,
                      const Tensor& points_row_splits,
                      const Tensor& queries_row_splits,
                      const Tensor& hash_table_splits,
                      const Tensor& hash_table_index,
                      const Tensor& hash_table_cell_splits,
                      const Metric metric,
                      Tensor& neighbors_index,
                      Tensor& neighbors_count,
                      Tensor& neighbors_distance);
#endif
 
class FixedRadiusIndex : public NNSIndex {
public:
    FixedRadiusIndex();
 
    FixedRadiusIndex(const Tensor& dataset_points, double radius);
    FixedRadiusIndex(const Tensor& dataset_points,
                     double radius,
                     const Dtype& index_dtype);
    ~FixedRadiusIndex();
    FixedRadiusIndex(const FixedRadiusIndex&) = delete;
    FixedRadiusIndex& operator=(const FixedRadiusIndex&) = delete;
 
public:
    bool SetTensorData(const Tensor& dataset_points,
                       const Dtype& index_dtype = core::Int64) override {
        utility::LogError(
                "FixedRadiusIndex::SetTensorData without radius not "
                "implemented.");
    }
 
    bool SetTensorData(const Tensor& dataset_points,
                       double radius,
                       const Dtype& index_dtype = core::Int64) override;
    bool SetTensorData(const Tensor& dataset_points,
                       const Tensor& points_row_splits,
                       double radius,
                       const Dtype& index_dtype = core::Int64);
 
    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,
            bool sort = true) const override {
        utility::LogError(
                "FixedRadiusIndex::SearchRadius with multi-radii not "
                "implemented.");
    }
 
    std::tuple<Tensor, Tensor, Tensor> SearchRadius(
            const Tensor& query_points,
            double radius,
            bool sort = true) const override;
    std::tuple<Tensor, Tensor, Tensor> SearchRadius(
            const Tensor& query_points,
            const Tensor& queries_row_splits,
            double radius,
            bool sort = true) const;
 
    std::tuple<Tensor, Tensor, Tensor> SearchHybrid(const Tensor& query_points,
                                                    double radius,
                                                    int max_knn) const override;
 
    std::tuple<Tensor, Tensor, Tensor> SearchHybrid(
            const Tensor& query_points,
            const Tensor& queries_row_splits,
            double radius,
            int max_knn) const;
 
    const double hash_table_size_factor = 1.0 / 32;
    const int64_t max_hash_tabls_size = 33554432;
 
protected:
    Tensor points_row_splits_;
    Tensor hash_table_splits_;
    Tensor hash_table_cell_splits_;
    Tensor hash_table_index_;
};
 
}  // namespace nns
}  // namespace core
}  // namespace open3d