Hashmap.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once

#include "open3d/core/Dtype.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/hashmap/HashmapBuffer.h"

namespace open3d {
namespace core {

class DeviceHashmap;

enum class HashmapBackend { Slab, StdGPU, TBB, Default };

class Hashmap {
public:
    Hashmap(int64_t init_capacity,
            const Dtype& dtype_key,
            const Dtype& dtype_value,
            const SizeVector& element_shape_key,
            const SizeVector& element_shape_value,
            const Device& device,
            const HashmapBackend& backend = HashmapBackend::Default);

    ~Hashmap(){};

    void Rehash(int64_t buckets);

    void Insert(const Tensor& input_keys,
                const Tensor& input_values,
                Tensor& output_addrs,
                Tensor& output_masks);

    void Activate(const Tensor& input_keys,
                  Tensor& output_addrs,
                  Tensor& output_masks);

    void Find(const Tensor& input_keys,
              Tensor& output_addrs,
              Tensor& output_masks);

    void Erase(const Tensor& input_keys, Tensor& output_masks);

    void GetActiveIndices(Tensor& output_indices) const;

    void Clear();

    Hashmap Clone() const;
    Hashmap To(const Device& device, bool copy = false) const;
    Hashmap CPU() const;
    Hashmap CUDA(int device_id = 0) const;

    int64_t Size() const;

    int64_t GetCapacity() const;
    int64_t GetBucketCount() const;
    Device GetDevice() const;
    int64_t GetKeyBytesize() const;
    int64_t GetValueBytesize() const;

    Tensor& GetKeyBuffer() const;
    Tensor& GetValueBuffer() const;

    Tensor GetKeyTensor() const;
    Tensor GetValueTensor() const;

    std::vector<int64_t> BucketSizes() const;

    float LoadFactor() const;

    std::shared_ptr<DeviceHashmap> GetDeviceHashmap() const {
        return device_hashmap_;
    }

protected:
    void AssertKeyDtype(const Dtype& dtype_key,
                        const SizeVector& elem_shape) const;
    void AssertValueDtype(const Dtype& dtype_val,
                          const SizeVector& elem_shape) const;

    Dtype GetKeyDtype() const { return dtype_key_; }
    Dtype GetValueDtype() const { return dtype_value_; }

private:
    std::shared_ptr<DeviceHashmap> device_hashmap_;

    Dtype dtype_key_;
    Dtype dtype_value_;

    SizeVector element_shape_key_;
    SizeVector element_shape_value_;
};

}  // namespace core
}  // namespace open3d