Optimized GPU Knn Search (isl-org#4545)

3rdparty/find_dependencies.cmake

@@ -1228,26 +1228,6 @@ open3d_import_3rdparty_library(3rdparty_parallelstl
 )
 list(APPEND Open3D_3RDPARTY_PUBLIC_TARGETS Open3D::3rdparty_parallelstl)
 
-# Faiss
-# Open3D should link Faiss before cuBLAS to avoid missing symbols error since
-# Faiss uses cuBLAS symbols. For the same reason, Open3D should link Faiss
-# before BLAS/Lapack if BLAS/Lapack are static libraries.
-if (WITH_FAISS AND WIN32)
-    message(STATUS "Faiss is not supported on Windows")
-    set(WITH_FAISS OFF)
-endif()
-if (WITH_FAISS)
-    message(STATUS "Building third-party library faiss from source")
-    include(${Open3D_3RDPARTY_DIR}/faiss/faiss_build.cmake)
-    open3d_import_3rdparty_library(3rdparty_faiss
-        INCLUDE_DIRS ${FAISS_INCLUDE_DIR}
-        LIBRARIES    ${FAISS_LIBRARIES}
-        LIB_DIR      ${FAISS_LIB_DIR}
-        DEPENDS      ext_faiss
-    )
-    target_link_libraries(3rdparty_faiss INTERFACE ${CMAKE_DL_LIBS})
-    list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS Open3D::3rdparty_faiss)
-endif()
 
 # MKL/BLAS
 if(USE_BLAS)

CMakeLists.txt

@@ -98,7 +98,6 @@ else()
 endif()
 
 option(PREFER_OSX_HOMEBREW        "Prefer Homebrew libs over frameworks"     ON )
-option(WITH_FAISS                 "Enable Faiss"                             ON )
 
 # Sensor options
 option(BUILD_LIBREALSENSE         "Build support for Intel RealSense camera" OFF)

cmake/Open3DPrintConfigurationSummary.cmake

@@ -64,7 +64,6 @@ function(open3d_print_configuration_summary)
     set(3RDPARTY_DEPENDENCIES
         BLAS
         Eigen3
-        faiss
         filament
         fmt
         GLEW

cmake/Open3DSetGlobalProperties.cmake

@@ -73,9 +73,6 @@ function(open3d_set_global_properties target)
     if (WITH_IPPICV)
         target_compile_definitions(${target} PRIVATE WITH_IPPICV)
     endif()
-    if (WITH_FAISS)
-        target_compile_definitions(${target} PRIVATE WITH_FAISS)
-    endif()
     if (GLIBCXX_USE_CXX11_ABI)
         target_compile_definitions(${target} PUBLIC _GLIBCXX_USE_CXX11_ABI=1)
     else()

cpp/open3d/core/CMakeLists.txt

@@ -111,6 +111,8 @@ if (BUILD_CUDA_MODULE)
     target_sources(core PRIVATE
         nns/KnnSearchOps.cu
         nns/FixedRadiusSearchOps.cu
+        nns/kernel/BlockSelectFloat32.cu
+        nns/kernel/BlockSelectFloat64.cu
     )
 endif()
 
@@ -125,11 +127,6 @@ if (BUILD_ISPC_MODULE)
     )
 endif()
 
-if (WITH_FAISS)
-    target_sources(core PRIVATE
-        nns/FaissIndex.cpp
-    )
-endif()
 
 open3d_show_and_abort_on_warning(core)
 open3d_set_global_properties(core)

cpp/open3d/core/CUDAUtils.cpp

@@ -286,12 +286,20 @@ int GetCUDACurrentWarpSize() {
     return value;
 }
 
+size_t GetCUDACurrentTotalMemSize() {
+    size_t free;
+    size_t total;
+    OPEN3D_CUDA_CHECK(cudaMemGetInfo(&free, &total));
+    return total;
+}
+
 #endif
 
 }  // namespace core
 }  // namespace open3d
 
 #ifdef BUILD_CUDA_MODULE
+
 namespace open3d {
 namespace core {
 

cpp/open3d/core/CUDAUtils.h

@@ -223,6 +223,8 @@ int GetCUDACurrentWarpSize();
 /// Returns the texture alignment in bytes for the current device.
 int GetCUDACurrentDeviceTextureAlignment();
 
+/// Returns the size of total global memory for the current device.
+size_t GetCUDACurrentTotalMemSize();
 #endif
 
 namespace cuda {

cpp/open3d/core/hashmap/HashBackendBuffer.cpp

@@ -27,6 +27,7 @@
 #include "open3d/core/hashmap/HashBackendBuffer.h"
 
 #include "open3d/core/CUDAUtils.h"
+
 namespace open3d {
 namespace core {