TensorMap.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <string>
#include <unordered_map>
#include <unordered_set>
 
#include "open3d/core/Tensor.h"
 
namespace open3d {
namespace t {
namespace geometry {
 
class TensorMap : public std::unordered_map<std::string, core::Tensor> {
public:
    explicit TensorMap(const std::string& primary_key)
        : std::unordered_map<std::string, core::Tensor>(),
          primary_key_(primary_key) {
        AssertPrimaryKeyInMapOrEmpty();
        AssertNoReservedKeys();
    }
 
    explicit TensorMap() : TensorMap("Undefined") {
        utility::LogError("Please construct TensorMap with a primary key.");
    }
 
    template <class InputIt>
    TensorMap(const std::string& primary_key, InputIt first, InputIt last)
        : std::unordered_map<std::string, core::Tensor>(first, last),
          primary_key_(primary_key) {
        AssertPrimaryKeyInMapOrEmpty();
        AssertNoReservedKeys();
    }
 
    TensorMap(const std::string& primary_key,
              const std::unordered_map<std::string, core::Tensor>& tensor_map)
        : TensorMap(primary_key, tensor_map.begin(), tensor_map.end()) {
        AssertPrimaryKeyInMapOrEmpty();
        AssertNoReservedKeys();
    }
 
    TensorMap(const std::string& primary_key,
              std::initializer_list<value_type> init)
        : std::unordered_map<std::string, core::Tensor>(init),
          primary_key_(primary_key) {
        AssertPrimaryKeyInMapOrEmpty();
        AssertNoReservedKeys();
    }
 
    TensorMap(const TensorMap& other)
        : std::unordered_map<std::string, core::Tensor>(other),
          primary_key_(other.primary_key_) {
        AssertPrimaryKeyInMapOrEmpty();
        AssertNoReservedKeys();
    }
 
    TensorMap(TensorMap&& other)
        : std::unordered_map<std::string, core::Tensor>(other),
          primary_key_(other.primary_key_) {
        AssertPrimaryKeyInMapOrEmpty();
        AssertNoReservedKeys();
    }
 
    std::size_t Erase(const std::string key) {
        if (key == primary_key_) {
            utility::LogError("Primary key \"{}\" cannot be deleted.",
                              primary_key_);
        } else if (!Contains(key)) {
            utility::LogWarning("Key \"{}\" is not present.", key);
        }
        return this->erase(key);
    }
 
    std::pair<iterator, bool> insert(const value_type& value) {
        if (GetReservedKeys().count(value.first)) {
            utility::LogError("Key \"{}\" is reserved.", value.first);
        }
        return std::unordered_map<std::string, core::Tensor>::insert(value);
    }
 
    template <class P>
    std::pair<iterator, bool> insert(P&& value) {
        if (GetReservedKeys().count(value.first)) {
            utility::LogError("Key \"{}\" is reserved.", value.first);
        }
        return std::unordered_map<std::string, core::Tensor>::insert(
                std::forward<P>(value));
    }
 
    iterator insert(const_iterator hint, const value_type& value) {
        if (GetReservedKeys().count(value.first)) {
            utility::LogError("Key \"{}\" is reserved.", value.first);
        }
        return std::unordered_map<std::string, core::Tensor>::insert(hint,
                                                                     value);
    }
 
    template <class P>
    iterator insert(const_iterator hint, P&& value) {
        if (GetReservedKeys().count(value.first)) {
            utility::LogError("Key \"{}\" is reserved.", value.first);
        }
        return std::unordered_map<std::string, core::Tensor>::insert(
                hint, std::forward<P>(value));
    }
 
    template <class InputIt>
    void insert(InputIt first, InputIt last) {
        for (auto it = first; it != last; ++it) {
            if (GetReservedKeys().count(it->first)) {
                utility::LogError("Key \"{}\" is reserved.", it->first);
            }
        }
        std::unordered_map<std::string, core::Tensor>::insert(first, last);
    }
 
    void insert(std::initializer_list<value_type> ilist) {
        for (auto it = ilist.begin(); it != ilist.end(); ++it) {
            if (GetReservedKeys().count(it->first)) {
                utility::LogError("Key \"{}\" is reserved.", it->first);
            }
        }
        std::unordered_map<std::string, core::Tensor>::insert(ilist);
    }
 
    TensorMap& operator=(const TensorMap&) = default;
 
    TensorMap& operator=(TensorMap&&) = default;
 
    std::string GetPrimaryKey() const { return primary_key_; }
 
    std::unordered_set<std::string> GetKeySet() const {
        std::unordered_set<std::string> keys;
        for (const auto& item : *this) {
            keys.insert(item.first);
        }
        return keys;
    }
 
    bool IsSizeSynchronized() const;
 
    void AssertSizeSynchronized() const;
 
    bool IsContiguous() const;
 
    TensorMap Contiguous() const;
 
    bool Contains(const std::string& key) const { return count(key) != 0; }
 
    static std::unordered_set<std::string> GetReservedKeys();
 
    std::string ToString() const;
 
private:
    void AssertPrimaryKeyInMapOrEmpty() const;
 
    void AssertNoReservedKeys() const;
 
    int64_t GetPrimarySize() const { return at(primary_key_).GetLength(); }
 
    core::Device GetPrimaryDevice() const {
        return at(primary_key_).GetDevice();
    }
 
    std::string primary_key_;
};
 
}  // namespace geometry
}  // namespace t
}  // namespace open3d