KDTreeFlann.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <memory>
#include <vector>
 
#include "open3d/geometry/Geometry.h"
#include "open3d/geometry/KDTreeSearchParam.h"
#include "open3d/pipelines/registration/Feature.h"
 
namespace nanoflann {
struct metric_L2;
template <class MatrixType, int DIM, class Distance, bool row_major>
struct KDTreeEigenMatrixAdaptor;
}  // namespace nanoflann
 
namespace open3d {
namespace geometry {
 
class KDTreeFlann {
public:
    KDTreeFlann();
    KDTreeFlann(const Eigen::MatrixXd &data);
    KDTreeFlann(const Geometry &geometry);
    KDTreeFlann(const pipelines::registration::Feature &feature);
    ~KDTreeFlann();
    KDTreeFlann(const KDTreeFlann &) = delete;
    KDTreeFlann &operator=(const KDTreeFlann &) = delete;
 
public:
    bool SetMatrixData(const Eigen::MatrixXd &data);
    bool SetGeometry(const Geometry &geometry);
    bool SetFeature(const pipelines::registration::Feature &feature);
 
    template <typename T>
    int Search(const T &query,
               const KDTreeSearchParam &param,
               std::vector<int> &indices,
               std::vector<double> &distance2) const;
 
    template <typename T>
    int SearchKNN(const T &query,
                  int knn,
                  std::vector<int> &indices,
                  std::vector<double> &distance2) const;
 
    template <typename T>
    int SearchRadius(const T &query,
                     double radius,
                     std::vector<int> &indices,
                     std::vector<double> &distance2) const;
 
    template <typename T>
    int SearchHybrid(const T &query,
                     double radius,
                     int max_nn,
                     std::vector<int> &indices,
                     std::vector<double> &distance2) const;
 
private:
    bool SetRawData(const Eigen::Map<const Eigen::MatrixXd> &data);
 
protected:
    using KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor<
            Eigen::Map<const Eigen::MatrixXd>,
            -1,
            nanoflann::metric_L2,
            false>;
 
    std::vector<double> data_;
    std::unique_ptr<Eigen::Map<const Eigen::MatrixXd>> data_interface_;
    std::unique_ptr<KDTree_t> nanoflann_index_;
    size_t dimension_ = 0;
    size_t dataset_size_ = 0;
};
 
}  // namespace geometry
}  // namespace open3d