NNSIndex.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"
 
namespace open3d {
namespace core {
namespace nns {
 
class NNSIndex {
public:
    NNSIndex() {}
    virtual ~NNSIndex() {}
    NNSIndex(const NNSIndex &) = delete;
    NNSIndex &operator=(const NNSIndex &) = delete;
 
public:
    virtual bool SetTensorData(const Tensor &dataset_points,
                               const Dtype &index_dtype) = 0;
 
    virtual bool SetTensorData(const Tensor &dataset_points,
                               double radius,
                               const Dtype &index_dtype) = 0;
 
    virtual std::pair<Tensor, Tensor> SearchKnn(const Tensor &query_points,
                                                int knn) const = 0;
 
    virtual std::tuple<Tensor, Tensor, Tensor> SearchRadius(
            const Tensor &query_points,
            const Tensor &radii,
            bool sort) const = 0;
 
    virtual std::tuple<Tensor, Tensor, Tensor> SearchRadius(
            const Tensor &query_points, double radius, bool sort) const = 0;
 
    virtual std::tuple<Tensor, Tensor, Tensor> SearchHybrid(
            const Tensor &query_points, double radius, int max_knn) const = 0;
 
    int GetDimension() const;
 
    size_t GetDatasetSize() const;
 
    Dtype GetDtype() const;
 
    Device GetDevice() const;
 
    Dtype GetIndexDtype() const;
 
protected:
    Tensor dataset_points_;
    Dtype index_dtype_;
};
}  // namespace nns
}  // namespace core
}  // namespace open3d