open3d::core::nns::FixedRadiusIndex Class Reference

FixedRadiusIndex for nearest neighbor range search. More...

#include <FixedRadiusIndex.h>

Inheritance diagram for open3d::core::nns::FixedRadiusIndex:

Public Member Functions
	FixedRadiusIndex ()
	Default Constructor. More...
	FixedRadiusIndex (const Tensor &dataset_points, double radius)
	Parameterized Constructor. More...
	FixedRadiusIndex (const Tensor &dataset_points, double radius, const Dtype &index_dtype)
	~FixedRadiusIndex ()
	FixedRadiusIndex (const FixedRadiusIndex &)=delete
FixedRadiusIndex &	operator= (const FixedRadiusIndex &)=delete
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
bool	SetTensorData (const Tensor &dataset_points, const Tensor &points_row_splits, double radius, const Dtype &index_dtype=core::Int64)
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 >	SearchRadius (const Tensor &query_points, const Tensor &queries_row_splits, double radius, bool sort=true) const
std::tuple< Tensor, Tensor, Tensor >	SearchHybrid (const Tensor &query_points, double radius, int max_knn) const override
std::tuple< Tensor, Tensor, Tensor >	SearchHybrid (const Tensor &query_points, const Tensor &queries_row_splits, double radius, int max_knn) const
Public Member Functions inherited from open3d::core::nns::NNSIndex
	NNSIndex ()
	Default Constructor. More...
virtual	~NNSIndex ()
	NNSIndex (const NNSIndex &)=delete
NNSIndex &	operator= (const NNSIndex &)=delete
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

Data Fields
const double	hash_table_size_factor = 1.0 / 32
const int64_t	max_hash_tabls_size = 33554432

Protected Attributes
Tensor	points_row_splits_
Tensor	hash_table_splits_
Tensor	hash_table_cell_splits_
Tensor	hash_table_index_
Protected Attributes inherited from open3d::core::nns::NNSIndex
Tensor	dataset_points_
Dtype	index_dtype_

Detailed Description

FixedRadiusIndex for nearest neighbor range search.

Constructor & Destructor Documentation

FixedRadiusIndex() [1/4]

open3d::core::nns::FixedRadiusIndex::FixedRadiusIndex

(

)

Default Constructor.

FixedRadiusIndex() [2/4]

open3d::core::nns::FixedRadiusIndex::FixedRadiusIndex	(	const Tensor &	dataset_points,
		double	radius
	)

Parameterized Constructor.

Parameters

dataset_points

Provides a set of data points as Tensor for KDTree construction.

FixedRadiusIndex() [3/4]

open3d::core::nns::FixedRadiusIndex::FixedRadiusIndex	(	const Tensor &	dataset_points,
		double	radius,
		const Dtype &	index_dtype
	)

~FixedRadiusIndex()

open3d::core::nns::FixedRadiusIndex::~FixedRadiusIndex

(

)

FixedRadiusIndex() [4/4]

open3d::core::nns::FixedRadiusIndex::FixedRadiusIndex ( const FixedRadiusIndex &  )

delete

Member Function Documentation

operator=()

FixedRadiusIndex & open3d::core::nns::FixedRadiusIndex::operator= ( const FixedRadiusIndex &  )

delete

SearchHybrid() [1/2]

std::tuple< Tensor, Tensor, Tensor > open3d::core::nns::FixedRadiusIndex::SearchHybrid	(	const Tensor &	query_points,
		const Tensor &	queries_row_splits,
		double	radius,
		int	max_knn
	)		const

SearchHybrid() [2/2]

std::tuple< Tensor, Tensor, Tensor > open3d::core::nns::FixedRadiusIndex::SearchHybrid ( const Tensor &  query_points, double  radius, int  max_knn  ) const

overridevirtual

Perform hybrid search.

Parameters

query_points	Query points. Must be 2D, with shape {n, d}.
radius	Radius.
max_knn	Maximum number of neighbor to search per query point.

Returns

Tuple of Tensors, (indices, distances, counts):

• indices: Tensor of shape {n, knn}, with dtype Int32.
• distances: Tensor of shape {n, knn}, with dtype Float32.
• counts: Tensor of shape {n, 1}, with dtype Int32.

Implements open3d::core::nns::NNSIndex.

SearchKnn()

std::pair< Tensor, Tensor > open3d::core::nns::FixedRadiusIndex::SearchKnn ( const Tensor &  query_points, int  knn  ) const

inlineoverridevirtual

Perform K nearest neighbor search.

Parameters

query_points	Query points. Must be 2D, with shape {n, d}, same dtype with dataset_points.
knn	Number of nearest neighbor to search.

Returns

Pair of Tensors: (indices, distances):

• indices: Tensor of shape {n, knn}, with dtype Int32.
• distainces: Tensor of shape {n, knn}, same dtype with dataset_points.

Implements open3d::core::nns::NNSIndex.

SearchRadius() [1/3]

std::tuple< Tensor, Tensor, Tensor > open3d::core::nns::FixedRadiusIndex::SearchRadius	(	const Tensor &	query_points,
		const Tensor &	queries_row_splits,
		double	radius,
		bool	sort = true
	)		const

SearchRadius() [2/3]

std::tuple< Tensor, Tensor, Tensor > open3d::core::nns::FixedRadiusIndex::SearchRadius ( const Tensor &  query_points, const Tensor &  radii, bool  sort = true  ) const

inlineoverridevirtual

Perform radius search with multiple radii.

Parameters

query_points	Query points. Must be 2D, with shape {n, d}, same dtype with dataset_points.
radii	list of radius. Must be 1D, with shape {n, }.

Returns

Tuple of Tensors: (indices, distances, num_neighbors):

• indicecs: Tensor of shape {total_num_neighbors,}, dtype Int32.
• distances: Tensor of shape {total_num_neighbors,}, same dtype with dataset_points.
• num_neighbors: Tensor of shape {n,}, dtype Int32.

Implements open3d::core::nns::NNSIndex.

SearchRadius() [3/3]

std::tuple< Tensor, Tensor, Tensor > open3d::core::nns::FixedRadiusIndex::SearchRadius ( const Tensor &  query_points, double  radius, bool  sort = true  ) const

overridevirtual

Perform radius search.

Parameters

query_points	Query points. Must be 2D, with shape {n, d}, same dtype with dataset_points.
radius	Radius.

Returns

Tuple of Tensors, (indices, distances, num_neighbors):

• indicecs: Tensor of shape {total_num_neighbors,}, dtype Int32.
• distances: Tensor of shape {total_num_neighbors,}, same dtype with dataset_points.
• num_neighbors: Tensor of shape {n}, dtype Int32.

Implements open3d::core::nns::NNSIndex.

SetTensorData() [1/3]

bool open3d::core::nns::FixedRadiusIndex::SetTensorData ( const Tensor &  dataset_points, const Dtype &  index_dtype = core::Int64  )

inlineoverridevirtual

Set the data for the nearest neighbor search.

Parameters

dataset_points

Dataset points for KDTree construction. Must be 2D, with shape {n, d}.

Returns

Returns true if the construction success, otherwise false.

Implements open3d::core::nns::NNSIndex.

SetTensorData() [2/3]

bool open3d::core::nns::FixedRadiusIndex::SetTensorData	(	const Tensor &	dataset_points,
		const Tensor &	points_row_splits,
		double	radius,
		const Dtype &	index_dtype = core::Int64
	)

SetTensorData() [3/3]

bool open3d::core::nns::FixedRadiusIndex::SetTensorData ( const Tensor &  dataset_points, double  radius, const Dtype &  index_dtype = core::Int64  )

overridevirtual

Set the data for the nearest neighbor search.

Parameters

dataset_points

Dataset points for KDTree construction. Must be 2D, with shape {n, d}.

Returns

Returns true if the construction success, otherwise false.

Implements open3d::core::nns::NNSIndex.

Field Documentation

hash_table_cell_splits_

Tensor open3d::core::nns::FixedRadiusIndex::hash_table_cell_splits_

protected

hash_table_index_

Tensor open3d::core::nns::FixedRadiusIndex::hash_table_index_

protected

hash_table_size_factor

const double open3d::core::nns::FixedRadiusIndex::hash_table_size_factor = 1.0 / 32

hash_table_splits_

Tensor open3d::core::nns::FixedRadiusIndex::hash_table_splits_

protected

max_hash_tabls_size

const int64_t open3d::core::nns::FixedRadiusIndex::max_hash_tabls_size = 33554432

points_row_splits_

Tensor open3d::core::nns::FixedRadiusIndex::points_row_splits_

protected

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The documentation for this class was generated from the following files:

• cpp/open3d/core/nns/FixedRadiusIndex.h
• cpp/open3d/core/nns/FixedRadiusIndex.cpp