85 lines
3.2 KiB
C
85 lines
3.2 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <tbb/parallel_for.h>
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namespace open3d {
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namespace ml {
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namespace impl {
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/// Creates a dense tensor from a ragged tensor.
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///
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/// Example where each value has size 2:
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/// values = [[0,0],[1,1],[2,2],[3,3],[4,4]]
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/// row_splits = [0,2,5]
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/// out_col_size=3
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/// default_value=[-1,-1]
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/// default_value_size = 2
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///
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/// will return
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///
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/// out_values = [[[0,0],[1,1],[-1,-1]], [[2,2],[3,3],[4,4]]]
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///
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///
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/// \param values Linear memory with all values.
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///
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/// \param row_splits Defines the start and end of each entry in the ragged
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/// tensor. This is an exclusive prefix sum with 0 as the first element
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/// and the length of all values as the last element.
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///
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/// \param row_splits_size The length of the row_splits vector.
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///
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/// \param out_col_size The output column size. This is the second dim of
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/// the dense output tensor.
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///
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/// \param default_value The default value to use if there are not enough
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/// values for filling the row.
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///
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/// \param default_value_size The size of the default value.
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///
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/// \param out_values This is the output array. The size of the array must
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/// be [row_splits_size-1, out_col_size, default_value_size].
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///
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template <class T>
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void RaggedToDenseCPU(const T* const values,
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const int64_t* const row_splits,
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const size_t row_splits_size,
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const size_t out_col_size,
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const T* const default_value,
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const size_t default_value_size,
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T* out_values) {
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tbb::parallel_for(
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tbb::blocked_range<size_t>(0, row_splits_size - 1),
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[&](const tbb::blocked_range<size_t>& r) {
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for (int64_t i = r.begin(); i != r.end(); ++i) {
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const int64_t start = row_splits[i];
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const int64_t end = std::min(int64_t(out_col_size) + start,
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row_splits[i + 1]);
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T* out_ptr =
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out_values + i * out_col_size * default_value_size;
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std::copy(values + start * default_value_size,
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values + end * default_value_size, out_ptr);
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// fill remaining columns with the default value
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out_ptr = out_ptr + (end - start) * default_value_size;
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for (int64_t j = end - start; j < out_col_size;
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++j, out_ptr += default_value_size) {
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std::copy(default_value,
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default_value + default_value_size, out_ptr);
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}
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}
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});
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}
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} // namespace impl
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} // namespace ml
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} // namespace open3d
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