Open3D (C++ API)  0.15.1
NeighborSearchCommon.h
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26 
27 #pragma once
28 
29 #include <memory>
30 
31 #include "open3d/utility/MiniVec.h"
32 
33 namespace open3d {
34 namespace core {
35 namespace nns {
36 
38 enum Metric { L1, L2, Linf };
39 
40 #ifdef __CUDACC__
41 #define HOST_DEVICE __host__ __device__
42 #else
43 #define HOST_DEVICE
44 #endif
45 
47 HOST_DEVICE inline size_t SpatialHash(int x, int y, int z) {
48  return x * 73856096 ^ y * 193649663 ^ z * 83492791;
49 }
50 
52  return SpatialHash(xyz[0], xyz[1], xyz[2]);
53 }
54 
60 template <class TVecf>
62  const TVecf &pos, const typename TVecf::Scalar_t &inv_voxel_size) {
63  TVecf ref_coord = pos * inv_voxel_size;
64 
65  utility::MiniVec<int, 3> voxel_index;
66  voxel_index = floor(ref_coord).template cast<int>();
67  return voxel_index;
68 }
69 #undef HOST_DEVICE
70 
74 };
75 
76 } // namespace nns
77 } // namespace core
78 } // namespace open3d
#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
Definition: MiniVec.h:43