RaggedToDense.h

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#pragma once

#include <tbb/parallel_for.h>

namespace open3d {
namespace ml {
namespace impl {

template <class T>
void RaggedToDenseCPU(const T* const values,
                      const int64_t* const row_splits,
                      const size_t row_splits_size,
                      const size_t out_col_size,
                      const T* const default_value,
                      const size_t default_value_size,
                      T* out_values) {
    tbb::parallel_for(
            tbb::blocked_range<size_t>(0, row_splits_size - 1),
            [&](const tbb::blocked_range<size_t>& r) {
                for (int64_t i = r.begin(); i != r.end(); ++i) {
                    const int64_t start = row_splits[i];
                    const int64_t end = std::min(int64_t(out_col_size) + start,
                                                 row_splits[i + 1]);

                    T* out_ptr =
                            out_values + i * out_col_size * default_value_size;

                    std::copy(values + start * default_value_size,
                              values + end * default_value_size, out_ptr);

                    // fill remaining columns with the default value
                    out_ptr = out_ptr + (end - start) * default_value_size;
                    for (int64_t j = end - start; j < out_col_size;
                         ++j, out_ptr += default_value_size) {
                        std::copy(default_value,
                                  default_value + default_value_size, out_ptr);
                    }
                }
            });
}

}  // namespace impl
}  // namespace ml
}  // namespace open3d