Open3D (C++ API)  0.16.1
NeighborSearchAllocator.h
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26
27#pragma once
28
29#include "open3d/core/Device.h"
30#include "open3d/core/Dtype.h"
31#include "open3d/core/Tensor.h"
32
33namespace open3d {
34namespace core {
35namespace nns {
36
37template <class T, class TIndex = int32_t>
39public:
40 NeighborSearchAllocator(Device device) : device_(device) {}
41
42 void AllocIndices(TIndex** ptr, size_t num) {
43 indices_ = Tensor::Empty({int64_t(num)}, Dtype::FromType<TIndex>(),
44 device_);
45 *ptr = indices_.GetDataPtr<TIndex>();
46 }
47
48 void AllocIndices(TIndex** ptr, size_t num, TIndex value) {
49 indices_ = Tensor::Full({int64_t(num)}, value,
50 Dtype::FromType<TIndex>(), device_);
51 *ptr = indices_.GetDataPtr<TIndex>();
52 }
53
54 void AllocDistances(T** ptr, size_t num) {
55 distances_ =
56 Tensor::Empty({int64_t(num)}, Dtype::FromType<T>(), device_);
57 *ptr = distances_.GetDataPtr<T>();
58 }
59
60 void AllocDistances(T** ptr, size_t num, T value) {
61 distances_ = Tensor::Full({int64_t(num)}, value, Dtype::FromType<T>(),
62 device_);
63 *ptr = distances_.GetDataPtr<T>();
64 }
65
66 void AllocCounts(TIndex** ptr, size_t num) {
67 counts_ = Tensor::Empty({int64_t(num)}, Dtype::FromType<TIndex>(),
68 device_);
69 *ptr = counts_.GetDataPtr<TIndex>();
70 }
71
72 void AllocCounts(TIndex** ptr, size_t num, TIndex value) {
73 counts_ = Tensor::Full({int64_t(num)}, value, Dtype::FromType<TIndex>(),
74 device_);
75 *ptr = counts_.GetDataPtr<TIndex>();
76 }
77
78 const TIndex* IndicesPtr() const { return indices_.GetDataPtr<TIndex>(); }
79
80 const T* DistancesPtr() const { return distances_.GetDataPtr<T>(); }
81
82 const TIndex* CountsPtr() const { return counts_.GetDataPtr<TIndex>(); }
83
84 const Tensor& NeighborsIndex() const { return indices_; }
85 Tensor& NeighborsIndex_() { return indices_; }
86 const Tensor& NeighborsDistance() const { return distances_; }
87 Tensor& NeighborsDistance_() { return distances_; }
88 const Tensor& NeighborsCount() const { return counts_; }
89
90private:
91 Tensor indices_;
92 Tensor distances_;
93 Tensor counts_;
94 Device device_;
95};
96
97} // namespace nns
98} // namespace core
99} // namespace open3d
Definition: Device.h:37
Definition: Tensor.h:51
static Tensor Empty(const SizeVector &shape, Dtype dtype, const Device &device=Device("CPU:0"))
Create a tensor with uninitialized values.
Definition: Tensor.cpp:386
T * GetDataPtr()
Definition: Tensor.h:1149
static Tensor Full(const SizeVector &shape, T fill_value, Dtype dtype, const Device &device=Device("CPU:0"))
Create a tensor fill with specified value.
Definition: Tensor.h:271
Definition: NeighborSearchAllocator.h:38
void AllocCounts(TIndex **ptr, size_t num, TIndex value)
Definition: NeighborSearchAllocator.h:72
void AllocDistances(T **ptr, size_t num)
Definition: NeighborSearchAllocator.h:54
const TIndex * IndicesPtr() const
Definition: NeighborSearchAllocator.h:78
const Tensor & NeighborsCount() const
Definition: NeighborSearchAllocator.h:88
void AllocDistances(T **ptr, size_t num, T value)
Definition: NeighborSearchAllocator.h:60
Tensor & NeighborsDistance_()
Definition: NeighborSearchAllocator.h:87
void AllocIndices(TIndex **ptr, size_t num)
Definition: NeighborSearchAllocator.h:42
Tensor & NeighborsIndex_()
Definition: NeighborSearchAllocator.h:85
const Tensor & NeighborsDistance() const
Definition: NeighborSearchAllocator.h:86
void AllocCounts(TIndex **ptr, size_t num)
Definition: NeighborSearchAllocator.h:66
const T * DistancesPtr() const
Definition: NeighborSearchAllocator.h:80
NeighborSearchAllocator(Device device)
Definition: NeighborSearchAllocator.h:40
const Tensor & NeighborsIndex() const
Definition: NeighborSearchAllocator.h:84
void AllocIndices(TIndex **ptr, size_t num, TIndex value)
Definition: NeighborSearchAllocator.h:48
const TIndex * CountsPtr() const
Definition: NeighborSearchAllocator.h:82
Definition: PinholeCameraIntrinsic.cpp:35