Open3D (C++ API)  0.17.0
NeighborSearchCommon.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <nanoflann.hpp>
11
13
14namespace open3d {
15namespace ml {
16namespace impl {
17
19enum Metric { L1, L2, Linf };
20
21#ifdef __CUDACC__
22#define HOST_DEVICE __host__ __device__
23#else
24#define HOST_DEVICE
25#endif
26
28HOST_DEVICE inline size_t SpatialHash(int x, int y, int z) {
29 return x * 73856096 ^ y * 193649663 ^ z * 83492791;
30}
31
33 return SpatialHash(xyz[0], xyz[1], xyz[2]);
34}
35
41template <class TVecf>
43 const TVecf& pos, const typename TVecf::Scalar_t& inv_voxel_size) {
44 TVecf ref_coord = pos * inv_voxel_size;
45
46 utility::MiniVec<int, 3> voxel_index;
47 voxel_index = floor(ref_coord).template cast<int>();
48 return voxel_index;
49}
50#undef HOST_DEVICE
51
53template <class T>
54class Adaptor {
55public:
56 Adaptor(size_t num_points, const T* const data)
57 : num_points(num_points), data(data) {}
58
59 inline size_t kdtree_get_point_count() const { return num_points; }
60
61 inline T kdtree_get_pt(const size_t idx, int dim) const {
62 return data[3 * idx + dim];
63 }
64
65 template <class BBOX>
66 bool kdtree_get_bbox(BBOX&) const {
67 return false;
68 }
69
70private:
71 size_t num_points;
72 const T* const data;
73};
74
75template <int METRIC, class T>
77
78template <class T>
80 typedef nanoflann::L2_Adaptor<T, Adaptor<T>> Adaptor_t;
81};
82
83template <class T>
85 typedef nanoflann::L1_Adaptor<T, Adaptor<T>> Adaptor_t;
86};
87
88} // namespace impl
89} // namespace ml
90} // namespace open3d
Adaptor for nanoflann.
Definition: NeighborSearchCommon.h:54
Adaptor(size_t num_points, const T *const data)
Definition: NeighborSearchCommon.h:56
size_t kdtree_get_point_count() const
Definition: NeighborSearchCommon.h:59
bool kdtree_get_bbox(BBOX &) const
Definition: NeighborSearchCommon.h:66
T kdtree_get_pt(const size_t idx, int dim) const
Definition: NeighborSearchCommon.h:61
#define HOST_DEVICE
Definition: NeighborSearchCommon.h:24
HOST_DEVICE size_t SpatialHash(int x, int y, int z)
Spatial hashing function for integer coordinates.
Definition: NeighborSearchCommon.h:28
Metric
Supported metrics.
Definition: NeighborSearchCommon.h:19
@ Linf
Definition: NeighborSearchCommon.h:19
@ L1
Definition: NeighborSearchCommon.h:19
@ L2
Definition: NeighborSearchCommon.h:19
HOST_DEVICE utility::MiniVec< int, 3 > ComputeVoxelIndex(const TVecf &pos, const typename TVecf::Scalar_t &inv_voxel_size)
Definition: NeighborSearchCommon.h:42
FN_SPECIFIERS MiniVec< float, N > floor(const MiniVec< float, N > &a)
Definition: MiniVec.h:75
Definition: PinholeCameraIntrinsic.cpp:16
nanoflann::L1_Adaptor< T, Adaptor< T > > Adaptor_t
Definition: NeighborSearchCommon.h:85
nanoflann::L2_Adaptor< T, Adaptor< T > > Adaptor_t
Definition: NeighborSearchCommon.h:80
Definition: NeighborSearchCommon.h:76
Definition: MiniVec.h:24