Remove Flann dependency (#3620)

* Remove Flann dependency * Switch to KNN search for hybrid search
isl-org · Jun 23, 2021 · 03afa03 · 03afa03
1 parent 62a7bdc
commit 03afa03
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Showing 51 changed files with 68 additions and 14,728 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -34,9 +34,6 @@
 [submodule "3rdparty/cub"]
  path = 3rdparty/cub
  url = https://github.com/NVlabs/cub
-[submodule "3rdparty/nanoflann"]
- path = 3rdparty/nanoflann
- url = https://github.com/jlblancoc/nanoflann
 [submodule "3rdparty/cutlass"]
  path = 3rdparty/cutlass
  url = https://github.com/NVIDIA/cutlass

diff --git a/3rdparty/CMake/Findnanoflann.cmake b/3rdparty/CMake/Findnanoflann.cmake
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
@@ -407,18 +407,12 @@ if(NOT USE_SYSTEM_EIGEN3)
 endif()
 list(APPEND Open3D_3RDPARTY_PUBLIC_TARGETS "${EIGEN3_TARGET}")
 
-# Flann
-if(USE_SYSTEM_FLANN)
- pkg_config_3rdparty_library(3rdparty_flann flann)
-endif()
-if(NOT USE_SYSTEM_FLANN OR NOT 3rdparty_flann_FOUND)
- build_3rdparty_library(3rdparty_flann DIRECTORY flann)
-endif()
-set(FLANN_TARGET "3rdparty_flann")
-list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS "${FLANN_TARGET}")
-
 # Nanoflann
-build_3rdparty_library(3rdparty_nanoflann DIRECTORY nanoflann INCLUDE_DIRS include/ INCLUDE_ALL)
+include(${Open3D_3RDPARTY_DIR}/nanoflann/nanoflann.cmake)
+import_3rdparty_library(3rdparty_nanoflann
+ INCLUDE_DIRS ${NANOFLANN_INCLUDE_DIRS}
+)
+add_dependencies(3rdparty_nanoflann ext_nanoflann)
 set(NANOFLANN_TARGET "3rdparty_nanoflann")
 list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS "${NANOFLANN_TARGET}")
 

diff --git a/3rdparty/flann/CMakeLists.txt b/3rdparty/flann/CMakeLists.txt
diff --git a/3rdparty/flann/flann/algorithms/all_indices.h b/3rdparty/flann/flann/algorithms/all_indices.h