KnnIndex.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2026 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "open3d/Macro.h"
#include "open3d/core/Dtype.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/nns/NNSIndex.h"
#include "open3d/core/nns/NeighborSearchCommon.h"
#include "open3d/utility/Logging.h"
 
#ifdef BUILD_CUDA_MODULE
struct CUstream_st;
using cudaStream_t = CUstream_st*;
#endif
 
namespace open3d {
namespace core {
namespace nns {
 
#ifdef BUILD_CUDA_MODULE
template <class T, class TIndex>
void KnnSearchCUDA(const Tensor& points,
                   const Tensor& points_row_splits,
                   const Tensor& queries,
                   const Tensor& queries_row_splits,
                   int knn,
                   Tensor& neighbors_index,
                   Tensor& neighbors_row_splits,
                   Tensor& neighbors_distance,
                   cudaStream_t user_stream = nullptr);
#endif
 
#ifdef BUILD_SYCL_MODULE
template <class T, class TIndex>
OPEN3D_API void KnnSearchSYCL(const Tensor& points,
                              const Tensor& points_row_splits,
                              const Tensor& queries,
                              const Tensor& queries_row_splits,
                              int knn,
                              Tensor& neighbors_index,
                              Tensor& neighbors_row_splits,
                              Tensor& neighbors_distance,
                              int64_t tile_bytes,
                              int64_t max_tile_queries = 2048,
                              int64_t tile_points_alignment = 128,
                              bool force_addmm_path = false);
#endif
 
class KnnIndex : public NNSIndex {
public:
    KnnIndex();
 
    KnnIndex(const Tensor& dataset_points);
    KnnIndex(const Tensor& dataset_points, const Dtype& index_dtype);
 
    KnnIndex(const Tensor& dataset_points,
             const Dtype& index_dtype,
             int64_t tile_bytes);
 
    ~KnnIndex();
    KnnIndex(const KnnIndex&) = delete;
    KnnIndex& operator=(const KnnIndex&) = delete;
 
public:
    bool SetTensorData(const Tensor& dataset_points,
                       const Dtype& index_dtype = core::Int64) override;
    bool SetTensorData(const Tensor& dataset_points,
                       const Tensor& points_row_splits,
                       const Dtype& index_dtype = core::Int64);
    bool SetTensorData(const Tensor& dataset_points,
                       double radius,
                       const Dtype& index_dtype = core::Int64) override {
        utility::LogError(
                "[KnnIndex::SetTensorData with radius not implemented.");
    }
 
    std::pair<Tensor, Tensor> SearchKnn(const Tensor& query_points,
                                        int knn) const override;
 
    std::pair<Tensor, Tensor> SearchKnn(const Tensor& query_points,
                                        const Tensor& queries_row_splits,
                                        int knn) const;
 
    std::tuple<Tensor, Tensor, Tensor> SearchRadius(const Tensor& query_points,
                                                    const Tensor& radii,
                                                    bool sort) const override {
        utility::LogError("KnnIndex::SearchRadius not implemented.");
    }
 
    std::tuple<Tensor, Tensor, Tensor> SearchRadius(const Tensor& query_points,
                                                    const double radius,
                                                    bool sort) const override {
        utility::LogError("KnnIndex::SearchRadius not implemented.");
    }
 
    std::tuple<Tensor, Tensor, Tensor> SearchHybrid(
            const Tensor& query_points,
            const double radius,
            const int max_knn) const override {
        utility::LogError("KnnIndex::SearchHybrid not implemented.");
    }
 
protected:
    Tensor points_row_splits_;
    int64_t tile_bytes_ = kSYCLKnnDefaultTileBytes;
};
 
}  // namespace nns
}  // namespace core
}  // namespace open3d