FaissIndex.h

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#pragma once

#include <vector>

#include "open3d/core/Tensor.h"
#include "open3d/core/nns/NNSIndex.h"
#include "open3d/utility/Logging.h"

// Forward declarations.
namespace faiss {
struct Index;
namespace gpu {
class StandardGpuResources;
}
}  // namespace faiss

namespace open3d {
namespace core {
namespace nns {

class FaissIndex : public NNSIndex {
public:
    FaissIndex();
    FaissIndex(const Tensor &dataset_points);
    ~FaissIndex();
    FaissIndex(const FaissIndex &) = delete;
    FaissIndex &operator=(const FaissIndex &) = delete;

public:
    // dataset_points must be float32.
    bool SetTensorData(const Tensor &dataset_points) override;

    bool SetTensorData(const Tensor &dataset_points, double radius) override {
        utility::LogError(
                "FaissIndex::SetTensorData with radius not implemented.");
    }

    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) const override {
        utility::LogError("FaissIndex::SearchHybrid not implemented.");
    }

    std::tuple<Tensor, Tensor, Tensor> SearchRadius(const Tensor &query_points,
                                                    double radius,
                                                    bool sort) const override {
        utility::LogError("FaissIndex::SearchHybrid not implemented.");
    }

    std::tuple<Tensor, Tensor, Tensor> SearchHybrid(const Tensor &query_points,
                                                    double radius,
                                                    int max_knn) const override;

protected:
    std::unique_ptr<faiss::Index> index;
#ifdef BUILD_CUDA_MODULE
    std::unique_ptr<faiss::gpu::StandardGpuResources> res;
#endif
};

}  // namespace nns
}  // namespace core
}  // namespace open3d