41 #define HOST_DEVICE __host__ __device__
48 return x * 73856096 ^ y * 193649663 ^ z * 83492791;
60 template <
class TVecf>
62 const TVecf &pos,
const typename TVecf::Scalar_t &inv_voxel_size) {
63 TVecf ref_coord = pos * inv_voxel_size;
66 voxel_index =
floor(ref_coord).template cast<int>();
#define HOST_DEVICE
Definition: NeighborSearchCommon.h:43
Metric
Supported metrics.
Definition: NeighborSearchCommon.h:38
@ Linf
Definition: NeighborSearchCommon.h:38
@ L1
Definition: NeighborSearchCommon.h:38
@ L2
Definition: NeighborSearchCommon.h:38
HOST_DEVICE size_t SpatialHash(int x, int y, int z)
Spatial hashing function for integer coordinates.
Definition: NeighborSearchCommon.h:47
HOST_DEVICE utility::MiniVec< int, 3 > ComputeVoxelIndex(const TVecf &pos, const typename TVecf::Scalar_t &inv_voxel_size)
Definition: NeighborSearchCommon.h:61
FN_SPECIFIERS MiniVec< float, N > floor(const MiniVec< float, N > &a)
Definition: MiniVec.h:94
Definition: PinholeCameraIntrinsic.cpp:35
Base struct for NanoFlann index holder.
Definition: NeighborSearchCommon.h:72
virtual ~NanoFlannIndexHolderBase()
Definition: NeighborSearchCommon.h:73