Xiang Zhang authored Jun 10, 2019 and David Flynn committed Nov 21, 2019

This adoption permits coding geometry with non-cubic bounding boxes.
Since the depth of the tree remains constant for cubic and non-cubic
bounding boxes with identical largest dimensions, quad-tree and
binary-tree partitions are introduced to avoid coding 'fractional'
positions.

The following configuration options control the placement of non-octree
partitions within the coding tree:

 --max_num_implicit_qtbt_before_ot
 --min_implicit_qtbt_size_log2

The geometry tree nodes contain a position element (pos) that identifies
the spatial position of the node.  At internal nodes this node position
is the partial position of a point and may either be represented using
the magnitude of the decoded points, or the magnitude of the current
depth.

The first form equates to:
 nextPos = curPos | (xyz << currentNodeSize)

The second:
 nextPos = (curPos << 1) | xyz

Where xyz represents a position bit from the coded occupancy.

In order to use the first form to determine neighbour relationships,
curPos must be shifted down to represent position within the current
depth.  This repeated shifting, along with the introduction of
simultaneous quantised and unquantised positions becomes increasingly
difficult to follow when adding non-cubic nodes (via OtQtBt).

This commit switches the representation to the second form above,
eliminating various shifted forms and duplicate state.  A decoded
positions is inverse quantised when reaching a leaf node.

The GBR coding order matches the description in ISO/IEC 23001-8 for
the identity matrix (MatrixCoefficients=0).

Yiting Shao authored Sep 23, 2019 and David Flynn committed Nov 21, 2019

This adoption allows determining the weights of each point's
predicting neighbours with a reduced influence of the, for
instance, z component.

The quantization functions are applied to both fixed-point and unitary
precision data using the same QP.  This commit moves the implicit
conversion adjustment out of the quantiser and into the calling code.

A 64 bit integer can represent a three dimensional 21 bit position with
one spare bit.  In order te allow the computation of abs(a-b), a signed
representation should be used, making use of the full 64 bits.

This is part of a series attempting to remove unhelpful typedefs.

The old typedefs (PCCBox3D) is retained for compatibility, but marked as
deprecated.

This is part of a series attempting to remove unhelpful typedefs.

This is part of a series attempting to remove unhelpful typedefs.

The old typedefs (PCCVector3D, PCCPoint3D, PCCColor3B) are retained for
compatibility, but marked as deprecated.

This is part of a series attempting to remove unhelpful typedefs.

This commit fixes a naming error where kMortonCode256X is used for
the z co-ordinate, and similarly for kMortonCode256Z.

This is part of a series that implements a single method of Cartesian to
Morton code conversion.

Ohji Nakagami authored Nov 26, 2018 and David Flynn committed Feb 05, 2019

This replaces the previous floating point version.  The number of
fractional bits is set to 8, allowing 24bit (unsigned) geometry
to be represented in 32bit calculations with negligible effects
on the reconstruction.

Define po-lite option traits to handle PCCVector3<T> as a container
to permit using PCCVector3<T> types as command / config parameters.

Khaled Mammou authored Sep 22, 2018 and David Flynn committed Nov 01, 2018

Replace the k-d tree based nearest neighbour search with an approximate
search based upon the points in Morton order.

This commit removes unnecessary include directives.

Philip A. Chou authored Mar 25, 2018 and David Flynn committed Jun 05, 2018

This commit ports the Region Adaptive Hierarchical Transform for
attribute coding with colour and reflectance variants.

This commit provides an implementation of m42239, permitting early
coding termination of sub-trees that contain few points:

 - the so-called IDCM feature uses an eligibility criteria prior
   to permitting an encoder mode decision.

 - the feature may be controlled via the command line / config file
   using the --inferredDirectCodingMode=1|0 option

This commit provides an implementation of m42238 to code occupancy:

 - a node's child occupancy is contextualised based on the adjacent
   neighbours of the parent node.

 - when an isolated node is occupied by only a single child, the
   sub-node address [0,7] is directly coded instead of the 8-bit
   occupancy word.

 - collection of neighbour occupancy is performed using a scatter/
   gather operation upon the insertion of each child node into the
   fifo queue.

 - the feature may be controlled via the command line / config file
   using the --neighbourContextualisation=1|0 option

Unused code can get in the way of refactoring.  This commit removes the
following classes, methods and utility functions:

 - PCCStaticKdTree3
 - PCCMatrix3
 - PCCDiagonalize

 - PCCPointSet3::setPosition(...)
 - PCCPointSet3::addPoint(...)
 - PCCPointSet3::computeCentroid(...)

 - PCCVector3::normalize(...)
 - PCCVector3::operator^(...)

 - PCCIncrementalKdTree3::append(...)

 - PCCDivideRange()
 - PCCGetNumberOfBitsInFixedLengthRepresentation()

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1221 94298a81-5874-47c9-aab8-bfb24faeed7f