NearestNeighborSearch.h

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#pragma once

#include <vector>

#include "open3d/core/Tensor.h"
#include "open3d/core/nns/FixedRadiusIndex.h"
#include "open3d/core/nns/KnnIndex.h"
#include "open3d/core/nns/NanoFlannIndex.h"
#include "open3d/utility/Optional.h"

namespace open3d {
namespace core {
namespace nns {

class NearestNeighborSearch {
public:
    NearestNeighborSearch(const Tensor &dataset_points)
        : dataset_points_(dataset_points){};

    ~NearestNeighborSearch();
    NearestNeighborSearch(const NearestNeighborSearch &) = delete;
    NearestNeighborSearch &operator=(const NearestNeighborSearch &) = delete;

public:
    bool KnnIndex();

    bool MultiRadiusIndex();

    bool FixedRadiusIndex(utility::optional<double> radius = {});

    bool HybridIndex(utility::optional<double> radius = {});

    std::pair<Tensor, Tensor> KnnSearch(const Tensor &query_points, int knn);

    std::tuple<Tensor, Tensor, Tensor> FixedRadiusSearch(
            const Tensor &query_points, double radius, bool sort = true);

    std::tuple<Tensor, Tensor, Tensor> MultiRadiusSearch(
            const Tensor &query_points, const Tensor &radii);

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

private:
    bool SetIndex();

    void AssertNotCUDA(const Tensor &t) const;

protected:
    std::unique_ptr<NanoFlannIndex> nanoflann_index_;
    std::unique_ptr<nns::FixedRadiusIndex> fixed_radius_index_;
    std::unique_ptr<nns::KnnIndex> knn_index_;
    const Tensor dataset_points_;
};
}  // namespace nns
}  // namespace core
}  // namespace open3d