219 lines
8.1 KiB
C++
Executable File
219 lines
8.1 KiB
C++
Executable File
// ----------------------------------------------------------------------------
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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 <string>
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#include <unordered_map>
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#include <unordered_set>
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#include "open3d/core/Tensor.h"
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namespace open3d {
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namespace t {
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namespace geometry {
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/// TensorMap is a unordered_map<string, Tensor> with a primary key. It is
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/// typically used as a container for geometry attributes.
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///
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/// e.g.
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/// tensor_map.primary_key: "positions"
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/// tensor_map["positions"] : Tensor of shape {100, 3}.
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/// tensor_map["colors"] : Tensor of shape {100, 3}.
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/// tensor_map["normals"] : Tensor of shape {100, 3}.
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///
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/// Typically, tensors in the TensorMap should have the same length (the first
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/// dimension of shape) and device as the primary tensor.
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class TensorMap : public std::unordered_map<std::string, core::Tensor> {
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public:
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/// Create empty TensorMap and set primary key.
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explicit TensorMap(const std::string& primary_key)
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: std::unordered_map<std::string, core::Tensor>(),
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primary_key_(primary_key) {
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AssertPrimaryKeyInMapOrEmpty();
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AssertNoReservedKeys();
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}
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/// A primary key is always required. This constructor can be marked as
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/// delete in C++, but it is needed for pybind to bind as a generic python
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/// map interface.
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explicit TensorMap() : TensorMap("Undefined") {
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utility::LogError("Please construct TensorMap with a primary key.");
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}
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template <class InputIt>
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TensorMap(const std::string& primary_key, InputIt first, InputIt last)
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: std::unordered_map<std::string, core::Tensor>(first, last),
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primary_key_(primary_key) {
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AssertPrimaryKeyInMapOrEmpty();
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AssertNoReservedKeys();
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}
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TensorMap(const std::string& primary_key,
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const std::unordered_map<std::string, core::Tensor>& tensor_map)
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: TensorMap(primary_key, tensor_map.begin(), tensor_map.end()) {
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AssertPrimaryKeyInMapOrEmpty();
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AssertNoReservedKeys();
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}
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TensorMap(const std::string& primary_key,
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std::initializer_list<value_type> init)
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: std::unordered_map<std::string, core::Tensor>(init),
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primary_key_(primary_key) {
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AssertPrimaryKeyInMapOrEmpty();
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AssertNoReservedKeys();
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}
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/// Copy constructor performs a "shallow" copy of the Tensors.
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TensorMap(const TensorMap& other)
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: std::unordered_map<std::string, core::Tensor>(other),
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primary_key_(other.primary_key_) {
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AssertPrimaryKeyInMapOrEmpty();
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AssertNoReservedKeys();
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}
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/// Move constructor performs a "shallow" copy of the Tensors.
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TensorMap(TensorMap&& other)
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: std::unordered_map<std::string, core::Tensor>(other),
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primary_key_(other.primary_key_) {
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AssertPrimaryKeyInMapOrEmpty();
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AssertNoReservedKeys();
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}
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/// \brief Erase elements for the TensorMap by key value, if the key
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/// exists. If the key does not exists, a warning is thrown.
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/// Also `primary_key` cannot be deleted. It is based on
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/// `size_type unordered_map::erase(const key_type& k);`.
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/// \return The number of elements deleted. [0 if key was not present].
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std::size_t Erase(const std::string key) {
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if (key == primary_key_) {
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utility::LogError("Primary key \"{}\" cannot be deleted.",
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primary_key_);
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} else if (!Contains(key)) {
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utility::LogWarning("Key \"{}\" is not present.", key);
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}
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return this->erase(key);
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}
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std::pair<iterator, bool> insert(const value_type& value) {
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if (GetReservedKeys().count(value.first)) {
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utility::LogError("Key \"{}\" is reserved.", value.first);
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}
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return std::unordered_map<std::string, core::Tensor>::insert(value);
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}
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template <class P>
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std::pair<iterator, bool> insert(P&& value) {
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if (GetReservedKeys().count(value.first)) {
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utility::LogError("Key \"{}\" is reserved.", value.first);
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}
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return std::unordered_map<std::string, core::Tensor>::insert(
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std::forward<P>(value));
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}
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iterator insert(const_iterator hint, const value_type& value) {
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if (GetReservedKeys().count(value.first)) {
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utility::LogError("Key \"{}\" is reserved.", value.first);
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}
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return std::unordered_map<std::string, core::Tensor>::insert(hint,
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value);
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}
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template <class P>
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iterator insert(const_iterator hint, P&& value) {
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if (GetReservedKeys().count(value.first)) {
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utility::LogError("Key \"{}\" is reserved.", value.first);
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}
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return std::unordered_map<std::string, core::Tensor>::insert(
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hint, std::forward<P>(value));
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}
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template <class InputIt>
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void insert(InputIt first, InputIt last) {
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for (auto it = first; it != last; ++it) {
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if (GetReservedKeys().count(it->first)) {
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utility::LogError("Key \"{}\" is reserved.", it->first);
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}
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}
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std::unordered_map<std::string, core::Tensor>::insert(first, last);
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}
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void insert(std::initializer_list<value_type> ilist) {
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for (auto it = ilist.begin(); it != ilist.end(); ++it) {
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if (GetReservedKeys().count(it->first)) {
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utility::LogError("Key \"{}\" is reserved.", it->first);
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}
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}
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std::unordered_map<std::string, core::Tensor>::insert(ilist);
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}
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TensorMap& operator=(const TensorMap&) = default;
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TensorMap& operator=(TensorMap&&) = default;
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/// Returns the primary key of the TensorMap.
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std::string GetPrimaryKey() const { return primary_key_; }
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/// Returns a set with all keys.
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std::unordered_set<std::string> GetKeySet() const {
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std::unordered_set<std::string> keys;
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for (const auto& item : *this) {
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keys.insert(item.first);
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}
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return keys;
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}
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/// Returns true if all tensors in the map have the same size.
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bool IsSizeSynchronized() const;
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/// Assert IsSizeSynchronized().
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void AssertSizeSynchronized() const;
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/// Returns True if the underlying memory buffers of all the Tensors in the
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/// TensorMap is contiguous.
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bool IsContiguous() const;
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/// Returns a new contiguous TensorMap containing the same data in the same
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/// device. For the contiguous tensors in the TensorMap, the same underlying
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/// memory will be used.
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TensorMap Contiguous() const;
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/// Returns true if the key exists in the map.
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/// Same as C++20's std::unordered_map::contains().
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bool Contains(const std::string& key) const { return count(key) != 0; }
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/// Get reserved keys for the map. A map cannot contain any of these keys.
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static std::unordered_set<std::string> GetReservedKeys();
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/// Print the TensorMap to string.
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std::string ToString() const;
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private:
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/// Asserts that the map indeed contains the primary_key. This is typically
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/// called in constructors.
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void AssertPrimaryKeyInMapOrEmpty() const;
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/// Asserts that there are no reserved keys in the map. This is typically
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/// called in constructors or in modifying functions.
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void AssertNoReservedKeys() const;
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/// Returns the size (length) of the primary key's tensor.
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int64_t GetPrimarySize() const { return at(primary_key_).GetLength(); }
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/// Returns the device of the primary key's tensor.
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core::Device GetPrimaryDevice() const {
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return at(primary_key_).GetDevice();
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}
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/// Primary key of the TensorMap.
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std::string primary_key_;
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};
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} // namespace geometry
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} // namespace t
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} // namespace open3d
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