trisoup/m43786: initial import of c++ version of trisoup

This commit integrates a c++ trisoup codec, replacing the previous matlab
implementation.

The provided code has been reworked to avoid duplicating code, dead code,
and operate with the current HLS.

tmc3/CMakeLists.txt

@@ -73,6 +73,7 @@ file(GLOB PROJECT_INC_FILES
   "constants.h"
   "geometry.h"
   "geometry_octree.h"
+  "geometry_trisoup.h"
   "hls.h"
   "io_hls.h"
   "io_tlv.h"
@@ -98,6 +99,8 @@ file(GLOB PROJECT_CPP_FILES
   "geometry_octree.cpp"
   "geometry_octree_decoder.cpp"
   "geometry_octree_encoder.cpp"
+  "geometry_trisoup_decoder.cpp"
+  "geometry_trisoup_encoder.cpp"
   "io_hls.cpp"
   "io_tlv.cpp"
   "osspecific.cpp"

tmc3/PCCPointSetProcessing.h

@@ -48,8 +48,8 @@ namespace pcc {
 
 //============================================================================
 // Quantise the geometry of a point cloud, retaining unique points only.
-// Points in the @src point cloud are translated by @offset, then quantised
-// by a multiplicitive @scaleFactor with rounding.
+// Points in the @src point cloud are translated by @offset, quantised by a
+// multiplicitive @scaleFactor with rounding, then clamped to @clamp.
 //
 // The destination and source point clouds may be the same object.
 //
@@ -59,6 +59,7 @@ inline void
 quantizePositionsUniq(
   const float scaleFactor,
   const PCCVector3D offset,
+  const PCCBox3<int32_t> clamp,
   const PCCPointSet3& src,
   PCCPointSet3* dst)
 {
@@ -70,9 +71,10 @@ quantizePositionsUniq(
     const PCCVector3D point = (src[i] + offset) * scaleFactor;
 
     PCCVector3<int32_t> quantizedPoint;
-    quantizedPoint[0] = int64_t(std::round(point[0]));
-    quantizedPoint[1] = int64_t(std::round(point[1]));
-    quantizedPoint[2] = int64_t(std::round(point[2]));
+    for (int k = 0; k < 3; k++) {
+      quantizedPoint[k] =
+        PCCClip(int32_t(std::round(point[k])), clamp.min[k], clamp.max[k]);
+    }
 
     uniquePoints.insert(quantizedPoint);
   }
@@ -106,6 +108,7 @@ inline void
 quantizePositions(
   const float scaleFactor,
   const PCCVector3D offset,
+  const PCCBox3<int32_t> clamp,
   const PCCPointSet3& src,
   PCCPointSet3* dst)
 {
@@ -118,11 +121,17 @@ quantizePositions(
     dst->resize(numSrcPoints);
   }
 
+  PCCBox3D clampD{
+    {double(clamp.min[0]), double(clamp.min[1]), double(clamp.min[2])},
+    {double(clamp.max[0]), double(clamp.max[1]), double(clamp.max[2])},
+  };
+
   for (int i = 0; i < numSrcPoints; ++i) {
     const PCCVector3D point = (src[i] + offset) * scaleFactor;
     auto& dstPoint = (*dst)[i];
     for (int k = 0; k < 3; ++k)
-      dstPoint[k] = std::round(point[k]);
+      dstPoint[k] =
+        PCCClip(std::round(point[k]), clampD.min[k], clampD.max[k]);
   }
 
   // don't copy attributes if dst already has them
@@ -140,6 +149,21 @@ quantizePositions(
   }
 }
 
+//============================================================================
+// Clamp point co-ordinates in @cloud to @bbox, preserving attributes.
+
+inline void
+clampVolume(PCCBox3D bbox, PCCPointSet3* cloud)
+{
+  int numSrcPoints = cloud->getPointCount();
+
+  for (int i = 0; i < numSrcPoints; ++i) {
+    auto& point = (*cloud)[i];
+    for (int k = 0; k < 3; ++k)
+      point[k] = PCCClip(point[k], bbox.min[k], bbox.max[k]);
+  }
+}
+
 //============================================================================
 // Determine colour attribute values from a reference/source point cloud.
 // Each point in @target is coloured by:

tmc3/PCCTMC3Decoder.h

@@ -78,7 +78,6 @@ public:
 private:
   int decodeGeometryBrick(const PayloadBuffer& buf);
   void decodeAttributeBrick(const PayloadBuffer& buf);
-  int decodeTrisoup(const PayloadBuffer& buf, PCCPointSet3& pointCloud);
 
   //==========================================================================
 

tmc3/PCCTMC3Encoder.h

@@ -84,8 +84,6 @@ private:
 
   void encodeGeometryBrick(PayloadBuffer* buf);
 
-  int encodeTrisoup(bool hasColor, bool hasReflectance, PayloadBuffer* buf);
-
   void computeMinPositions(const PCCPointSet3& inputPointCloud);
 
   void quantization(const PCCPointSet3& inputPointCloud);

tmc3/decoder.cpp

@@ -176,8 +176,7 @@ PCCTMC3Decoder3::decodeGeometryBrick(const PayloadBuffer& buf)
     decodeGeometryOctree(*_gps, gbh, _currentPointCloud, &arithmeticDecoder);
   }
   if (_gps->geom_codec_type == GeometryCodecType::kTriSoup) {
-    if (decodeTrisoup(buf, _currentPointCloud))
-      return -1;
+    decodeGeometryTrisoup(*_gps, gbh, _currentPointCloud, &arithmeticDecoder);
   }
 
   arithmeticDecoder.stop_decoder();
@@ -234,71 +233,6 @@ PCCTMC3Decoder3::decodeAttributeBrick(const PayloadBuffer& buf)
   std::cout << std::endl;
 }
 
-//--------------------------------------------------------------------------
-
-int
-PCCTMC3Decoder3::decodeTrisoup(
-  const PayloadBuffer& buf, PCCPointSet3& pointCloud)
-{
-  assert(buf.type == PayloadType::kGeometryBrick);
-
-  // Write out TMC1 geometry bitstream from the converged TMC13 bitstream.
-  std::ofstream fout("outbin/outbin_0000.bin", std::ios::binary);
-  if (!fout.is_open()) {
-    // maybe because directory does not exist; try again...
-    pcc::mkdir("outbin");
-    fout.open("outbin/outbin_0000.bin", std::ios::binary);
-    if (!fout.is_open())
-      return -1;
-  }
-  fout.write(buf.data(), buf.size());
-  if (!fout) {
-    return -1;
-  }
-  fout.close();
-
-  // Decompress geometry with TMC1.
-  std::string cmd;
-  cmd = "7z e -aoa -bso0 -ooutbin outbin/outbin_0000.bin";
-  if (int err = system(cmd.c_str())) {
-    std::cerr << "Failed (" << err << ") to run :" << cmd << '\n';
-    return -1;
-  }
-
-  cmd =
-    "TMC1_geometryDecode"
-    " -inbin outbin/outbin"
-    " -outref refinedVerticesDecoded.ply"
-    " -depth "
-    + std::to_string(_gps->trisoup_depth) + " -level "
-    + std::to_string(_gps->trisoup_triangle_level)
-    + " -format binary_little_endian";
-  if (int err = system(cmd.c_str())) {
-    std::cerr << "Failed (" << err << ") to run :" << cmd << '\n';
-    return -1;
-  }
-
-  cmd =
-    "TMC1_voxelize"
-    " -inref refinedVerticesDecoded.ply"
-    " -outvox quantizedPointCloudDecoded.ply"
-    " -depth "
-    + std::to_string(_gps->trisoup_depth) + " -format binary_little_endian";
-  if (int err = system(cmd.c_str())) {
-    std::cerr << "Failed (" << err << ") to run :" << cmd << '\n';
-    return -1;
-  }
-
-  bool hasColors = pointCloud.hasColors();
-  bool hasReflectances = pointCloud.hasReflectances();
-  if (!pointCloud.read("quantizedPointCloudDecoded.ply")) {
-    std::cerr << "Failed to read quantizedPointCloudDecoded.ply\n";
-    return -1;
-  }
-  pointCloud.addRemoveAttributes(hasColors, hasReflectances);
-  return 0;
-}
-
 //==========================================================================
 
 void

tmc3/encoder.cpp

@@ -126,46 +126,17 @@ PCCTMC3Encoder3::compress(
   //  - encode geometry
   //  - recolour
 
-  if (_gps->geom_codec_type == GeometryCodecType::kOctree) {
-    quantization(inputPointCloud);
-  }
-  if (_gps->geom_codec_type == GeometryCodecType::kTriSoup) {
-    // todo(?): this ought to be replaced with quantization(...)
-    if (!inputPointCloud.write("verticesInWorldCoords.ply", true)) {
-      std::cerr << "Failed to write verticesInWorldCoords.ply\n";
-      return -1;
-    }
-    std::string cmd =
-      "TMC1_coordinateTransform"
-      " -inworld verticesInWorldCoords.ply"
-      " -outframe verticesInFrameCoords.ply"
-      " -depth "
-      + std::to_string(_gps->trisoup_depth) + " -scale "
-      + std::to_string(_sps->donotuse_trisoup_int_to_orig_scale)
-      + " -format binary_little_endian";
-    if (int err = system(cmd.c_str())) {
-      std::cerr << "Failed (" << err << ") to run :" << cmd << '\n';
-      return -1;
-    }
-  }
+  // The quantization process will determine the bounding box
+  quantization(inputPointCloud);
 
   // geometry encoding
-
   if (1) {
     PayloadBuffer payload(PayloadType::kGeometryBrick);
 
     pcc::chrono::Stopwatch<pcc::chrono::utime_inc_children_clock> clock_user;
     clock_user.start();
 
-    if (_gps->geom_codec_type == GeometryCodecType::kOctree) {
-      encodeGeometryBrick(&payload);
-    }
-    if (_gps->geom_codec_type == GeometryCodecType::kTriSoup) {
-      bool hasColor = inputPointCloud.hasColors();
-      bool hasReflectance = inputPointCloud.hasReflectances();
-      if (encodeTrisoup(hasColor, hasReflectance, &payload))
-        return -1;
-    }
+    encodeGeometryBrick(&payload);
 
     clock_user.stop();
 
@@ -256,6 +227,10 @@ PCCTMC3Encoder3::encodeGeometryBrick(PayloadBuffer* buf)
   // the current node dimension (log2) encompasing maxBB
   int nodeSizeLog2 = ceillog2(maxBB + 1);
 
+  // todo(df): consider removal of trisoup_depth
+  if (_gps->geom_codec_type == GeometryCodecType::kTriSoup)
+    nodeSizeLog2 = _gps->trisoup_depth;
+
   GeometryBrickHeader gbh;
   gbh.geom_geom_parameter_set_id = _gps->gps_geom_parameter_set_id;
   gbh.geomBoxOrigin.x() = int(minPositions.x());
@@ -274,7 +249,9 @@ PCCTMC3Encoder3::encodeGeometryBrick(PayloadBuffer* buf)
   if (_gps->geom_codec_type == GeometryCodecType::kOctree) {
     encodeGeometryOctree(*_gps, gbh, pointCloud, &arithmeticEncoder);
   }
-  // todo(df): move trisoup coding here
+  if (_gps->geom_codec_type == GeometryCodecType::kTriSoup) {
+    encodeGeometryTrisoup(*_gps, gbh, pointCloud, &arithmeticEncoder);
+  }
 
   uint32_t dataLen = arithmeticEncoder.stop_encoder();
   std::copy_n(arithmeticEncoder.buffer(), dataLen, std::back_inserter(*buf));
@@ -316,62 +293,6 @@ PCCTMC3Encoder3::reconstructedPointCloud(PCCPointSet3* reconstructedCloud)
 
 //----------------------------------------------------------------------------
 
-int
-PCCTMC3Encoder3::encodeTrisoup(
-  bool hasColor, bool hasReflectance, PayloadBuffer* buf)
-{
-  // todo(?): port TMC1 geometry encoder
-  // todo(?): fix TMC1 to output where it is told not requiring an extra
-  //          level of guesswork to find the output file.
-  pcc::mkdir("outbin");
-  std::string cmd =
-    "TMC1_geometryEncode"
-    " -inframe verticesInFrameCoords.ply"
-    " -outbin outbin"
-    " -outref refinedVertices.ply"
-    " -depth "
-    + std::to_string(_gps->trisoup_depth) + " -level "
-    + std::to_string(_gps->trisoup_triangle_level)
-    + " -format binary_little_endian";
-  if (int err = system(cmd.c_str())) {
-    std::cerr << "Failed (" << err << ") to run :" << cmd << '\n';
-    return -1;
-  }
-
-  // todo(?): port interpolator
-  cmd =
-    "TMC1_voxelize"
-    " -inref refinedVertices.ply"
-    " -outvox voxelizedVertices.ply"
-    " -depth "
-    + std::to_string(_gps->trisoup_depth) + " -format binary_little_endian";
-  if (int err = system(cmd.c_str())) {
-    std::cerr << "Failed (" << err << ") to run :" << cmd << '\n';
-    return -1;
-  }
-
-  // Read in quantizedPointCloud file.
-  if (!pointCloud.read("voxelizedVertices.ply")) {
-    std::cerr << "Failed to open voxelizedVertices.ply\n";
-    return -1;
-  }
-  pointCloud.addRemoveAttributes(hasColor, hasReflectance);
-
-  // encapsulate the TMC1 "bitstream"
-  std::ifstream fin("outbin/outbin_0000.bin", std::ios::binary);
-  if (!fin.is_open()) {
-    std::cerr << "failed to open tmc1 bitstream\n";
-    return -1;
-  }
-
-  std::copy(
-    std::istreambuf_iterator<char>(fin), std::istreambuf_iterator<char>(),
-    std::back_inserter(*buf));
-  return 0;
-}
-
-//----------------------------------------------------------------------------
-
 void
 PCCTMC3Encoder3::computeMinPositions(const PCCPointSet3& inputPointCloud)
 {
@@ -398,14 +319,25 @@ PCCTMC3Encoder3::quantization(const PCCPointSet3& inputPointCloud)
   if (_gps->geom_codec_type == GeometryCodecType::kOctree)
     computeMinPositions(inputPointCloud);
 
+  PCCBox3<int32_t> clampBox{{0, 0, 0}, {INT32_MAX, INT32_MAX, INT32_MAX}};
+  if (_gps->geom_codec_type == GeometryCodecType::kTriSoup) {
+    // NB: Since trisoup forces the octree root node size, and the
+    //     quantiser above rounds half away from zero it is possible that
+    //     an input ranged [0,2**n) becomes [0,2**m], requiring an octree
+    //     root node size of 2**(m+1).
+    // todo(??): consider truncation towards zero in quantisation.
+    int32_t maxval = (1 << _gps->trisoup_depth) - 1;
+    clampBox = PCCBox3<int32_t>{{0, 0, 0}, {maxval, maxval, maxval}};
+  }
+
   if (_gps->geom_unique_points_flag) {
     quantizePositionsUniq(
-      _sps->seq_source_geom_scale_factor, -minPositions, inputPointCloud,
-      &pointCloud);
+      _sps->seq_source_geom_scale_factor, -minPositions, clampBox,
+      inputPointCloud, &pointCloud);
   } else {
     quantizePositions(
-      _sps->seq_source_geom_scale_factor, -minPositions, inputPointCloud,
-      &pointCloud);
+      _sps->seq_source_geom_scale_factor, -minPositions, clampBox,
+      inputPointCloud, &pointCloud);
   }
 
   const size_t pointCount = pointCloud.getPointCount();

tmc3/geometry.h

@@ -55,6 +55,20 @@ void decodeGeometryOctree(
   PCCPointSet3& pointCloud,
   o3dgc::Arithmetic_Codec* arithmeticDecoder);
 
+//----------------------------------------------------------------------------
+
+void encodeGeometryTrisoup(
+  const GeometryParameterSet& gps,
+  const GeometryBrickHeader& gbh,
+  PCCPointSet3& pointCloud,
+  o3dgc::Arithmetic_Codec* arithmeticEncoder);
+
+void decodeGeometryTrisoup(
+  const GeometryParameterSet& gps,
+  const GeometryBrickHeader& gbh,
+  PCCPointSet3& pointCloud,
+  o3dgc::Arithmetic_Codec* arithmeticDecoder);
+
 //============================================================================
 
 }  // namespace pcc

tmc3/geometry_octree.h

@@ -39,6 +39,8 @@
 
 #include "ArithmeticCodec.h"
 #include "PCCMath.h"
+#include "PCCPointSet.h"
+#include "hls.h"
 #include "ringbuf.h"
 
 namespace pcc {
@@ -91,6 +93,23 @@ void updateGeometryNeighState(
   uint8_t neighPattern,
   uint8_t parentOccupancy);
 
+//---------------------------------------------------------------------------
+// :: octree encoder exposing internal ringbuffer
+
+void encodeGeometryOctree(
+  const GeometryParameterSet& gps,
+  const GeometryBrickHeader& gbh,
+  PCCPointSet3& pointCloud,
+  o3dgc::Arithmetic_Codec* arithmeticEncoder,
+  pcc::ringbuf<PCCOctree3Node>* nodesRemaining);
+
+void decodeGeometryOctree(
+  const GeometryParameterSet& gps,
+  const GeometryBrickHeader& gbh,
+  PCCPointSet3& pointCloud,
+  o3dgc::Arithmetic_Codec* arithmeticDecoder,
+  pcc::ringbuf<PCCOctree3Node>* nodesRemaining);
+
 //---------------------------------------------------------------------------
 // Determine if direct coding is permitted.
 // If tool is enabled:

tmc3/geometry_octree_decoder.cpp

@@ -254,7 +254,8 @@ decodeGeometryOctree(
   const GeometryParameterSet& gps,
   const GeometryBrickHeader& gbh,
   PCCPointSet3& pointCloud,
-  o3dgc::Arithmetic_Codec* arithmeticDecoder)
+  o3dgc::Arithmetic_Codec* arithmeticDecoder,
+  pcc::ringbuf<PCCOctree3Node>* nodesRemaining)
 {
   GeometryOctreeDecoder decoder(arithmeticDecoder);
 
@@ -266,6 +267,11 @@ decodeGeometryOctree(
   // the current node dimension (log2)
   int nodeSizeLog2 = gbh.geom_max_node_size_log2;
 
+  // termination for trisoup
+  int terminalNodeSizeLog2 = 0;
+  if (gps.geom_codec_type == GeometryCodecType::kTriSoup)
+    terminalNodeSizeLog2 = gps.trisoup_depth - gps.trisoup_triangle_level;
+
   // push the first node
   fifo.emplace_back();
   PCCOctree3Node& node00 = fifo.back();
@@ -299,7 +305,12 @@ decodeGeometryOctree(
       nodeSizeLog2--;
       numNodesNextLvl = 0;
       occupancyAtlasOrigin = 0xffffffff;
+
+      // allow partial tree encoding using trisoup
+      if (nodeSizeLog2 == terminalNodeSizeLog2)
+        break;
     }
+
     PCCOctree3Node& node0 = fifo.front();
 
     if (gps.neighbour_avail_boundary_log2) {
@@ -389,6 +400,23 @@ decodeGeometryOctree(
       }
     }
   }
+
+  // return partial coding result
+  if (nodesRemaining) {
+    *nodesRemaining = std::move(fifo);
+  }
+}
+
+//-------------------------------------------------------------------------
+
+void
+decodeGeometryOctree(
+  const GeometryParameterSet& gps,
+  const GeometryBrickHeader& gbh,
+  PCCPointSet3& pointCloud,
+  o3dgc::Arithmetic_Codec* arithmeticDecoder)
+{
+  decodeGeometryOctree(gps, gbh, pointCloud, arithmeticDecoder, nullptr);
 }
 
 //============================================================================

tmc3/geometry_octree_encoder.cpp

@@ -250,7 +250,8 @@ encodeGeometryOctree(
   const GeometryParameterSet& gps,
   const GeometryBrickHeader& gbh,
   PCCPointSet3& pointCloud,
-  o3dgc::Arithmetic_Codec* arithmeticEncoder)
+  o3dgc::Arithmetic_Codec* arithmeticEncoder,
+  pcc::ringbuf<PCCOctree3Node>* nodesRemaining)
 {
   GeometryOctreeEncoder encoder(arithmeticEncoder);