NanoFlannIndex.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/Tensor.h"
#include "open3d/core/nns/NNSIndex.h"
#include "open3d/core/nns/NeighborSearchCommon.h"
#include "open3d/utility/Logging.h"
 
namespace open3d {
namespace core {
namespace nns {
 
class NanoFlannIndex : public NNSIndex {
public:
    NanoFlannIndex();
 
    NanoFlannIndex(const Tensor &dataset_points);
    NanoFlannIndex(const Tensor &dataset_points, const Dtype &index_dtype);
    ~NanoFlannIndex();
    NanoFlannIndex(const NanoFlannIndex &) = delete;
    NanoFlannIndex &operator=(const NanoFlannIndex &) = delete;
 
public:
    bool SetTensorData(const Tensor &dataset_points,
                       const Dtype &index_dtype = core::Int64) override;
 
    bool SetTensorData(const Tensor &dataset_points,
                       double radius,
                       const Dtype &index_dtype = core::Int64) override {
        utility::LogError(
                "NanoFlannIndex::SetTensorData with radius not implemented.");
    }
 
    std::pair<Tensor, Tensor> SearchKnn(const Tensor &query_points,
                                        int knn) const override;
 
    std::tuple<Tensor, Tensor, Tensor> SearchRadius(
            const Tensor &query_points,
            const Tensor &radii,
            bool sort = true) const override;
 
    std::tuple<Tensor, Tensor, Tensor> SearchRadius(
            const Tensor &query_points,
            double radius,
            bool sort = true) const override;
 
    std::tuple<Tensor, Tensor, Tensor> SearchHybrid(const Tensor &query_points,
                                                    double radius,
                                                    int max_knn) const override;
 
protected:
    // Tensor dataset_points_;
    std::unique_ptr<NanoFlannIndexHolderBase> holder_;
};
}  // namespace nns
}  // namespace core
}  // namespace open3d