Ohji Nakagami authored Feb 19, 2018 and David Flynn committed May 11, 2018

This commit fixes an issue with source sequences that contain 16-bit
reflectance data, which may be clipped to 8-bit ranges during attribute
transfer (recolouring) following geometry quantisation.

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

Toshiyasu Sugio authored Apr 24, 2018 and David Flynn committed May 10, 2018

In cases where all point positions are unique (either due to input or
due to mergeDuplicatePoints = 1), there is no need to signal the number
of points in each leaf node (since it is always 1).

This commit adds a header flag to indicate this case, and modifies the
encoder and decoder to omit the point count signalling when
mergeDuplicatePoints = 1.

This change avoids enqueueing an additional node for every point in the
input for the sole purpose of encoding the position count in a
subsequent iteration.

At the penultimate level of the geometry octree, a node's children
(which cannot be further split) are immediately encoded or decoded.

This commit eliminates the temporary fifo used in partitioning each node
into child nodes.  Rather than using independent sorting passes to apply
a binary partition to each of the x, y, and z axis, a counting sort
permits all eight output positions to be calculated with a single pass,
and a further pass to reorder the elements.

Use of an std::deque can involve a large number of malloc operations
as the internal sections of the queue are repeatedly allocated and
released during the geometry coding loop.

This commit provides a ring buffer implementation that uses the
worst-case octree node count (ie, ~number of input points) as
a fixed-size buffer.

This commit replaces the use of size_t (the index type of the input
point list) with an explicit uint32_t type on the basis that it is
not currently feasible to consider a point cloud with more than
2**32 points.

uint32_t is used to follow the STL convention of a vector's size_type
being unsigned.

This optimisation reduces the size of the PCCOctree3Node structure
by replacing the per-node bounding box with the node's position (which
is the same as the bounding box minimums).  The contribution of the
bounding box maximums can be deduced from the initial bounding box
and the current tree depth.

Counters are used to track the transition from one depth to the next
during breadth-first traversal.

This commit fixes a bug where coding certain point clouds may
result in points being moved at the edge of the bounding box.
One such manifestation is the appearance of duplicate points in
a point cloud originally with unique point positions.

The maximum should be calculated as the lowest power of two minus
one that contains the bounding box.

This commit refactors the position coding loops in preparation for a
subsequent commit that requires the ability to index nodes in the
coding loop fifo.

The refactoring operation also:

 - reduces the number of copy construction operations when managing
   the fifo.

 - avoids in-loop malloc, since the previous temporary fifo used
   to split the current node was constructed afresh for each
   iteration.  In the encoder this is factored out of the loop,
   while the decoder implementation elides the temporary fifo
   altogether.

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()

This commit regenerates the pre-generated config files affected by the
earlier fix to positionQuantizationScale that was 10 times the intended
value, affecting the r05 data point of citytunnel_q1mm, overpass_q1mm,
and tollbooth_q1mm.



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1352 94298a81-5874-47c9-aab8-bfb24faeed7f

This commit fixes an instance of positionQuantizationScale that is 10
times the intended value, affecting the r05 data point of citytunnel_q1mm,
overpass_q1mm, and tollbooth_q1mm.



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1346 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1341 94298a81-5874-47c9-aab8-bfb24faeed7f

To aid mapping between the non-descriptive and somewhat fluid CTC
category numbers and the provided configuration file names, a simple
csv file <cfg/ctc-category-map.csv> is provided that lists the current
CTC category number, the older CfP category number, along with sequence
configuration name and test sequence.


git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1340 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1339 94298a81-5874-47c9-aab8-bfb24faeed7f

This avoids an issue with g++-4.8.



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1338 94298a81-5874-47c9-aab8-bfb24faeed7f

This commit changes the application's reporting of elapsed time to
measure user time rather than wall time in order to reduce sources
of noise in evaluating runtime.

For output is now of the form:

  ```
  Processing time (wall): 123.456 s
  Processing time (user): 123.456 s
  ```



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1329 94298a81-5874-47c9-aab8-bfb24faeed7f

This commit replaces the rather verbose TMC3v0CfPParameters document
with a set of configuration files written according to the MPEG N17351
PCC common test conditions.

Unfortunately rate-point configurations are dependent on the sequence
and test category, preventing the effective use of composable configuration
files.

The configuration files are:

 - lossless-geom-no-attrs:          Condition 3.1
 - lossless-geom-lossy-texture:     Condition 3.2
 - lossless-geom-lossy-reflectance: Condition 3.3
 - lossy-geom-no-attrs:             Condition 3.4 & 3.8
 - lossy-geom-lossy-attrs:          Condition 3.6

 - per-sequence/*.cfg: source data configuration for encoding.

Simple usage documentation is added to README.md



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1323 94298a81-5874-47c9-aab8-bfb24faeed7f

This commit replaces the previous command-line argument parsing with
program-options-lite, which additionally serves as a simple config-file
parser.

A table based configuration of options provides in a single place
option naming, help text, and default values.

Side effects of this change are to:

 - adds further error checking for unknown arguments (warning only), parse
   failures, required options.

 - replace the default constructor of Parameters,
   PCCAttributeEncodeParamaters, and PCCAttributeEncodeParamaters
   with defaults in args handler

 - updates the type of Parameters::mode & ...::colorTransform to be more
   more descriptive.



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1318 94298a81-5874-47c9-aab8-bfb24faeed7f

This commit allows option target storage to be of the form V<T>, where
V is a container supporting .push_back().  The default parser tokenises
the argument string using commas or white space characters, with adjacent
white space characters being merged, and commas are not:

  "a, b,c,,e" = {T1(a), T1(b), T1(c), T1(), T1(e)}
  "a  b c  e" = {T1(a), T1(b), T1(c), T1(e)}.



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1317 94298a81-5874-47c9-aab8-bfb24faeed7f

This enables use of lambda expressions and bound functions as
argument option helpers -- helpful when having to perform some
complex action on variables.



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1316 94298a81-5874-47c9-aab8-bfb24faeed7f

The Options collection already knows the default value for each
option.  This commit extends the help text to show the default
value against the long option name.



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1315 94298a81-5874-47c9-aab8-bfb24faeed7f

The following cosmetic changes are made:

 - tidy output of error/warning reporting without location context

 - help: fix minimum spacing between options and help text

 - help: add blank line before options whose text collide with help text
   to improve general readability

 - help: widen the options column to reduce number of overlaps



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1314 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1313 94298a81-5874-47c9-aab8-bfb24faeed7f

In order to facilitate config file handling, this commit imports the
program-options-lite module from jctvc-hm.  Subsequent versions will
update needed functionality.



git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1312 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1265 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1262 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1232 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1231 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1223 94298a81-5874-47c9-aab8-bfb24faeed7f

git-svn-id: http://wg11.sc29.org/svn/repos/MPEG-I/Part5-PointCloudCompression/TM/TMC3/trunk@1222 94298a81-5874-47c9-aab8-bfb24faeed7f