Open3D (C++ API)  0.15.1
NearestNeighborSearch.h
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26
27#pragma once
28
29#include <vector>
30
31#include "open3d/core/Tensor.h"
36
37namespace open3d {
38namespace core {
39namespace nns {
40
45public:
50 NearestNeighborSearch(const Tensor &dataset_points)
51 : dataset_points_(dataset_points){};
52
56
57public:
61 bool KnnIndex();
62
66 bool MultiRadiusIndex();
67
73
77 bool HybridIndex(utility::optional<double> radius = {});
78
87 std::pair<Tensor, Tensor> KnnSearch(const Tensor &query_points, int knn);
88
100 std::tuple<Tensor, Tensor, Tensor> FixedRadiusSearch(
101 const Tensor &query_points, double radius, bool sort = true);
102
114 std::tuple<Tensor, Tensor, Tensor> MultiRadiusSearch(
115 const Tensor &query_points, const Tensor &radii);
116
129 std::tuple<Tensor, Tensor, Tensor> HybridSearch(const Tensor &query_points,
130 double radius,
131 int max_knn);
132
133private:
134 bool SetIndex();
135
137 void AssertNotCUDA(const Tensor &t) const;
138
139protected:
140 std::unique_ptr<NanoFlannIndex> nanoflann_index_;
141 std::unique_ptr<nns::FixedRadiusIndex> fixed_radius_index_;
142 std::unique_ptr<nns::KnnIndex> knn_index_;
144};
145} // namespace nns
146} // namespace core
147} // namespace open3d
Definition: Tensor.h:51
A Class for nearest neighbor search.
Definition: NearestNeighborSearch.h:44
NearestNeighborSearch(const Tensor &dataset_points)
Definition: NearestNeighborSearch.h:50
std::tuple< Tensor, Tensor, Tensor > HybridSearch(const Tensor &query_points, double radius, int max_knn)
Definition: NearestNeighborSearch.cpp:149
bool MultiRadiusIndex()
Definition: NearestNeighborSearch.cpp:57
NearestNeighborSearch(const NearestNeighborSearch &)=delete
std::unique_ptr< nns::KnnIndex > knn_index_
Definition: NearestNeighborSearch.h:142
bool FixedRadiusIndex(utility::optional< double > radius={})
Definition: NearestNeighborSearch.cpp:59
std::tuple< Tensor, Tensor, Tensor > FixedRadiusSearch(const Tensor &query_points, double radius, bool sort=true)
Definition: NearestNeighborSearch.cpp:117
bool KnnIndex()
Definition: NearestNeighborSearch.cpp:42
std::tuple< Tensor, Tensor, Tensor > MultiRadiusSearch(const Tensor &query_points, const Tensor &radii)
Definition: NearestNeighborSearch.cpp:137
~NearestNeighborSearch()
Definition: NearestNeighborSearch.cpp:35
const Tensor dataset_points_
Definition: NearestNeighborSearch.h:143
NearestNeighborSearch & operator=(const NearestNeighborSearch &)=delete
std::unique_ptr< nns::FixedRadiusIndex > fixed_radius_index_
Definition: NearestNeighborSearch.h:141
bool HybridIndex(utility::optional< double > radius={})
Definition: NearestNeighborSearch.cpp:79
std::pair< Tensor, Tensor > KnnSearch(const Tensor &query_points, int knn)
Definition: NearestNeighborSearch.cpp:98
std::unique_ptr< NanoFlannIndex > nanoflann_index_
Definition: NearestNeighborSearch.h:140
Definition: Optional.h:278
Definition: PinholeCameraIntrinsic.cpp:35