NeighborSearchCommon.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <memory>
 
#include "open3d/utility/MiniVec.h"
 
namespace open3d {
namespace core {
namespace nns {
 
enum Metric { L1, L2, Linf };
 
#ifdef __CUDACC__
#define HOST_DEVICE __host__ __device__
#else
#define HOST_DEVICE
#endif
 
HOST_DEVICE inline size_t SpatialHash(int x, int y, int z) {
    return x * 73856096 ^ y * 193649663 ^ z * 83492791;
}
 
HOST_DEVICE inline size_t SpatialHash(const utility::MiniVec<int, 3> &xyz) {
    return SpatialHash(xyz[0], xyz[1], xyz[2]);
}
 
template <class TVecf>
HOST_DEVICE inline utility::MiniVec<int, 3> ComputeVoxelIndex(
        const TVecf &pos, const typename TVecf::Scalar_t &inv_voxel_size) {
    TVecf ref_coord = pos * inv_voxel_size;
 
    utility::MiniVec<int, 3> voxel_index;
    voxel_index = floor(ref_coord).template cast<int>();
    return voxel_index;
}
#undef HOST_DEVICE
 
struct NanoFlannIndexHolderBase {
    virtual ~NanoFlannIndexHolderBase() {}
};
 
}  // namespace nns
}  // namespace core
}  // namespace open3d