Update nanoflann to version 1.5.0 (#6216)

Fix broken nanoflann::SearchParameters The (ignored) checks argument has been removed Add version restriction for Nanoflann
isl-org · Jun 30, 2023 · f492ff5 · f492ff5
1 parent 47f4ee9
commit f492ff5
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Showing 4 changed files with 17 additions and 13 deletions.
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
@@ -269,7 +269,7 @@ endfunction()
 # If <pkg> also defines targets, use them instead and pass them via TARGETS option.
 #
 function(open3d_find_package_3rdparty_library name)
- cmake_parse_arguments(arg "PUBLIC;HEADER;REQUIRED;QUIET" "PACKAGE;PACKAGE_VERSION_VAR" "TARGETS;INCLUDE_DIRS;LIBRARIES" ${ARGN})
+ cmake_parse_arguments(arg "PUBLIC;HEADER;REQUIRED;QUIET" "PACKAGE;VERSION;PACKAGE_VERSION_VAR" "TARGETS;INCLUDE_DIRS;LIBRARIES" ${ARGN})
  if(arg_UNPARSED_ARGUMENTS)
  message(STATUS "Unparsed: ${arg_UNPARSED_ARGUMENTS}")
  message(FATAL_ERROR "Invalid syntax: open3d_find_package_3rdparty_library(${name} ${ARGN})")
@@ -281,6 +281,9 @@ function(open3d_find_package_3rdparty_library name)
  set(arg_PACKAGE_VERSION_VAR "${arg_PACKAGE}_VERSION")
  endif()
  set(find_package_args "")
+ if(arg_VERSION)
+ list(APPEND find_package_args "${arg_VERSION}")
+ endif()
  if(arg_REQUIRED)
  list(APPEND find_package_args "REQUIRED")
  endif()
@@ -596,6 +599,7 @@ endif()
 if(USE_SYSTEM_NANOFLANN)
  open3d_find_package_3rdparty_library(3rdparty_nanoflann
  PACKAGE nanoflann
+ VERSION 1.5.0
  TARGETS nanoflann::nanoflann
  )
  if(NOT 3rdparty_nanoflann_FOUND)

diff --git a/3rdparty/nanoflann/nanoflann.cmake b/3rdparty/nanoflann/nanoflann.cmake
@@ -3,8 +3,8 @@ include(ExternalProject)
 ExternalProject_Add(
  ext_nanoflann
  PREFIX nanoflann
- URL https://github.com/jlblancoc/nanoflann/archive/refs/tags/v1.3.2.tar.gz
- URL_HASH SHA256=e100b5fc8d72e9426a80312d852a62c05ddefd23f17cbb22ccd8b458b11d0bea
+ URL https://github.com/jlblancoc/nanoflann/archive/refs/tags/v1.5.0.tar.gz
+ URL_HASH SHA256=89aecfef1a956ccba7e40f24561846d064f309bc547cc184af7f4426e42f8e65
  DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/nanoflann"
  UPDATE_COMMAND ""
  CONFIGURE_COMMAND ""

diff --git a/cpp/open3d/core/nns/NanoFlannImpl.h b/cpp/open3d/core/nns/NanoFlannImpl.h
@@ -233,15 +233,15 @@ void _RadiusSearchCPU(NanoFlannIndexHolderBase *holder,
  std::vector<std::vector<T>> neighbors_distances(num_queries);
  std::vector<uint32_t> neighbors_count(num_queries, 0);
 
- nanoflann::SearchParams params;
+ nanoflann::SearchParameters params;
  params.sorted = sort;
 
  auto holder_ =
  static_cast<NanoFlannIndexHolder<METRIC, T, TIndex> *>(holder);
  tbb::parallel_for(
  tbb::blocked_range<size_t>(0, num_queries),
  [&](const tbb::blocked_range<size_t> &r) {
- std::vector<std::pair<TIndex, T>> search_result;
+ std::vector<nanoflann::ResultItem<TIndex, T>> search_result;
  for (size_t i = r.begin(); i != r.end(); ++i) {
  T radius = radii[i];
  if (METRIC == L2) {
@@ -346,15 +346,15 @@ void _HybridSearchCPU(NanoFlannIndexHolderBase *holder,
  output_allocator.AllocDistances(&distances_ptr, num_indices);
  output_allocator.AllocCounts(&counts_ptr, num_queries);
 
- nanoflann::SearchParams params;
+ nanoflann::SearchParameters params;
  params.sorted = true;
 
  auto holder_ =
  static_cast<NanoFlannIndexHolder<METRIC, T, TIndex> *>(holder);
  tbb::parallel_for(
  tbb::blocked_range<size_t>(0, num_queries),
  [&](const tbb::blocked_range<size_t> &r) {
- std::vector<std::pair<TIndex, T>> ret_matches;
+ std::vector<nanoflann::ResultItem<TIndex, T>> ret_matches;
  for (size_t i = r.begin(); i != r.end(); ++i) {
  size_t num_results = holder_->index_->radiusSearch(
  &queries[i * dimension], radius_squared,

diff --git a/cpp/open3d/geometry/KDTreeFlann.cpp b/cpp/open3d/geometry/KDTreeFlann.cpp
@@ -104,7 +104,7 @@ int KDTreeFlann::SearchKNN(const T &query,
  indices.resize(knn);
  distance2.resize(knn);
  std::vector<Eigen::Index> indices_eigen(knn);
- int k = nanoflann_index_->index->knnSearch(
+ int k = nanoflann_index_->index_->knnSearch(
  query.data(), knn, indices_eigen.data(), distance2.data());
  indices.resize(k);
  distance2.resize(k);
@@ -125,10 +125,10 @@ int KDTreeFlann::SearchRadius(const T &query,
  size_t(query.rows()) != dimension_) {
  return -1;
  }
- std::vector<std::pair<Eigen::Index, double>> indices_dists;
- int k = nanoflann_index_->index->radiusSearch(
+ std::vector<nanoflann::ResultItem<Eigen::Index, double>> indices_dists;
+ int k = nanoflann_index_->index_->radiusSearch(
  query.data(), radius * radius, indices_dists,
- nanoflann::SearchParams(-1, 0.0));
+ nanoflann::SearchParameters(0.0));
  indices.resize(k);
  distance2.resize(k);
  for (int i = 0; i < k; ++i) {
@@ -154,7 +154,7 @@ int KDTreeFlann::SearchHybrid(const T &query,
  }
  distance2.resize(max_nn);
  std::vector<Eigen::Index> indices_eigen(max_nn);
- int k = nanoflann_index_->index->knnSearch(
+ int k = nanoflann_index_->index_->knnSearch(
  query.data(), max_nn, indices_eigen.data(), distance2.data());
  k = std::distance(distance2.begin(),
  std::lower_bound(distance2.begin(), distance2.begin() + k,
@@ -178,7 +178,7 @@ bool KDTreeFlann::SetRawData(const Eigen::Map<const Eigen::MatrixXd> &data) {
  data_interface_.reset(new Eigen::Map<const Eigen::MatrixXd>(data));
  nanoflann_index_.reset(
  new KDTree_t(dimension_, std::cref(*data_interface_), 15));
- nanoflann_index_->index->buildIndex();
+ nanoflann_index_->index_->buildIndex();
  return true;
 }