Open3D (C++ API)
0.17.0+a5be78c

Namespaces  
impl  
Data Structures  
class  FixedRadiusIndex 
FixedRadiusIndex for nearest neighbor range search. More...  
class  KnnIndex 
class  MemoryAllocation 
A class for managing memory segments within a memory allocation. More...  
struct  NanoFlannIndexHolder 
NanoFlann Index Holder. More...  
class  NanoFlannIndex 
class  NearestNeighborSearch 
A Class for nearest neighbor search. More...  
class  NeighborSearchAllocator 
struct  NanoFlannIndexHolderBase 
Base struct for NanoFlann index holder. More...  
class  NNSIndex 
Enumerations  
enum  Metric { L1 , L2 , Linf } 
Supported metrics. More...  
Functions  
template<class T >  
void  BuildSpatialHashTableCPU (const Tensor &points, double radius, const Tensor &points_row_splits, const Tensor &hash_table_splits, Tensor &hash_table_index, Tensor &hash_table_cell_splits) 
template<class T , class TIndex >  
void  FixedRadiusSearchCPU (const Tensor &points, const Tensor &queries, double radius, const Tensor &points_row_splits, const Tensor &queries_row_splits, const Tensor &hash_table_splits, const Tensor &hash_table_index, const Tensor &hash_table_cell_splits, const Metric metric, const bool ignore_query_point, const bool return_distances, const bool sort, Tensor &neighbors_index, Tensor &neighbors_row_splits, Tensor &neighbors_distance) 
template<class T , class TIndex >  
void  HybridSearchCPU (const Tensor &points, const Tensor &queries, double radius, int max_knn, const Tensor &points_row_splits, const Tensor &queries_row_splits, const Tensor &hash_table_splits, const Tensor &hash_table_index, const Tensor &hash_table_cell_splits, const Metric metric, Tensor &neighbors_index, Tensor &neighbors_count, Tensor &neighbors_distance) 
HOST_DEVICE size_t  SpatialHash (int x, int y, int z) 
Spatial hashing function for integer coordinates. More...  
HOST_DEVICE size_t  SpatialHash (const utility::MiniVec< int, 3 > &xyz) 
template<class TVecf >  
HOST_DEVICE utility::MiniVec< int, 3 >  ComputeVoxelIndex (const TVecf &pos, const typename TVecf::Scalar_t &inv_voxel_size) 
void open3d::core::nns::BuildSpatialHashTableCPU  (  const Tensor &  points, 
double  radius,  
const Tensor &  points_row_splits,  
const Tensor &  hash_table_splits,  
Tensor &  hash_table_index,  
Tensor &  hash_table_cell_splits  
) 
Builds a spatial hash table for a fixed radius search of 3D points.
T  Floatingpoint data type for the point positions. 
points  The tensor of 3D points. This tensor may be splitted into multiple batch items by defining points_row_splits_size accordingly. 
radius  The radius that will be used for searching. 
points_row_splits  Defines the start and end of the points in each batch item. The size of the tensor is batch_size+1. If there is only 1 batch item then this array is [0, num_points] 
hash_table_splits  Tensor defining the start and end the hash table for each batch item. This is [0, number of cells] if there is only 1 batch item or [0, hash_table_cell_splits_size1] which is the same. 
hash_table_index  This is an output tensor storing the values of the hash table, which are the indices to the points. The size of the tensor must be equal to the number of points. 
hash_table_cell_splits  This is an output tensor storing the start of each hash table entry. The size of this array defines the size of the hash table. The hash table size is hash_table_cell_splits_size  1. 

inline 
Computes an integer voxel index for a 3D position.
pos  A 3D position. 
inv_voxel_size  The reciprocal of the voxel size 
void open3d::core::nns::FixedRadiusSearchCPU  (  const Tensor &  points, 
const Tensor &  queries,  
double  radius,  
const Tensor &  points_row_splits,  
const Tensor &  queries_row_splits,  
const Tensor &  hash_table_splits,  
const Tensor &  hash_table_index,  
const Tensor &  hash_table_cell_splits,  
const Metric  metric,  
const bool  ignore_query_point,  
const bool  return_distances,  
const bool  sort,  
Tensor &  neighbors_index,  
Tensor &  neighbors_row_splits,  
Tensor &  neighbors_distance  
) 
Fixed radius search. This function computes a list of neighbor indices for each query point. The lists are stored linearly and an exclusive prefix sum defines the start and end of list in the array. In addition the function optionally can return the distances for each neighbor in the same format as the indices to the neighbors.
T  Floatingpoint data type for the point positions. 
points  Tensor with the 3D point positions. This must be the tensor that was used for building the spatial hash table. 
queries  Tensor with the 3D query positions. This may be the same tensor as points . 
radius  The search radius. 
points_row_splits  Defines the start and end of the points in each batch item. The size of the tensor is batch_size+1. If there is only 1 batch item then this tensor is [0, num_points] 
queries_row_splits  Defines the start and end of the queries in each batch item. The size of the tensor is batch_size+1. If there is only 1 batch item then this tensor is [0, num_queries] 
hash_table_splits  Tensor defining the start and end the hash table for each batch item. This is [0, number of cells] if there is only 1 batch item or [0, hash_table_cell_splits_size1] which is the same. 
hash_table_index  This is an output of the function BuildSpatialHashTableCPU. This is tensor storing the values of the hash table, which are the indices to the points. The size of the tensor must be equal to the number of points. 
hash_table_cell_splits  This is an output of the function BuildSpatialHashTableCPU. The row splits array describing the start and end of each cell. 
metric  One of L1, L2, Linf. Defines the distance metric for the search. 
ignore_query_point  If true then points with the same position as the query point will be ignored. 
return_distances  If true then this function will return the distances for each neighbor to its query point in the same format as the indices. Note that for the L2 metric the squared distances will be returned!! 
sort  If true then sort the results in ascending order of distance 
neighbors_index  The output tensor that saves the resulting neighbor indices 
neighbors_row_splits  Tensor defining the start and end the neighbor indices in each batch item. The size of the tensor is num_query_points + 1 
neighbors_distance  The output tensor that saves the resulting neighbor distances. 
void open3d::core::nns::HybridSearchCPU  (  const Tensor &  points, 
const Tensor &  queries,  
double  radius,  
int  max_knn,  
const Tensor &  points_row_splits,  
const Tensor &  queries_row_splits,  
const Tensor &  hash_table_splits,  
const Tensor &  hash_table_index,  
const Tensor &  hash_table_cell_splits,  
const Metric  metric,  
Tensor &  neighbors_index,  
Tensor &  neighbors_count,  
Tensor &  neighbors_distance  
) 
Hybrid search. This function computes a list of neighbor indices for each query point. The lists are stored linearly and if there is less neighbors than requested, the output tensor will be assigned with default values, 1 for indices and 0 for distances. In addition the function returns the number of neighbors for each query.
T  Floatingpoint data type for the point positions. 
points  Tensor with the 3D point positions. This must be the tensor that was used for building the spatial hash table. 
queries  Tensor with the 3D query positions. This may be the same tensor as points . 
radius  The search radius. 
max_knn  The maximum number of neighbor for each query 
points_row_splits  Defines the start and end of the points in each batch item. The size of the tensor is batch_size+1. If there is only 1 batch item then this tensor is [0, num_points] 
queries_row_splits  Defines the start and end of the queries in each batch item. The size of the tensor is batch_size+1. If there is only 1 batch item then this tensor is [0, num_queries] 
hash_table_splits  Tensor defining the start and end the hash table for each batch item. This is [0, number of cells] if there is only 1 batch item or [0, hash_table_cell_splits_size1] which is the same. 
hash_table_index  This is an output of the function BuildSpatialHashTableCPU. This is tensor storing the values of the hash table, which are the indices to the points. The size of the tensor must be equal to the number of points. 
hash_table_cell_splits  This is an output of the function BuildSpatialHashTableCPU. The row splits array describing the start and end of each cell. 
metric  One of L1, L2, Linf. Defines the distance metric for the search. 
neighbors_index  The output tensor that saves the resulting neighbor indices 
neighbors_count  The output tensor that saves the number of neighbors for each query points 
neighbors_distance  The output tensor that saves the resulting neighbor distances. 

inline 

inline 
Spatial hashing function for integer coordinates.