This commit adds an extra contextualisation bit for occupancy coding
based on there being an unoccupied adjacent child neighbour, rather
than just depending upon the number of occupied neighbours.

This proposal reduces the number of neighbour configurations used
in occupancy contextualisation from {10, 10, 10, 10, 10, 10, 7, 5}
to {9, 9, 9, 9, 5, 5, 3, 2} by replacing the 64-to-10, 10-to-7,
and 10-to-5 mapping tables with 64-to-9, 9-to-5, and 9-to-3 tables.

This commit updates the geometry octree node occupancy map scan order
to permit better screening of b6 from the right.

The integration of m43781 fast lifting for lossy attributes removes the
need for PCCIncrementalKdTree3.

This function has never been used.

Since the implementation has no interaction with the FixedPoint class,
it makes little sense to name it so.

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.

Toshiyasu Sugio authored Apr 08, 2019 and David Flynn committed Apr 16, 2019

This commit fixes a failure to process a point cloud containing a
single point.

The commit adds a flag to conditionally enable/disable the feature.

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.

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

Noritaka Iguchi authored Feb 22, 2019 and David Flynn committed Apr 16, 2019

The ply-merge tool combines point clouds from multiple ply files into a
single output with an extra per-attribute frameindex property that
identifies which input frame each point belongs to.  The tool is also
able to reverse the process and split a merged point cloud into
individual frames.

This commit fixes the ability to code with neighbourAvailBoundaryLog2=0,
which correctly disabled the contextualisation based on externally
adjacent child neighbours, but failed to disable the atlas update.

This commit fixes an issue with the bytewise occupancy coder caused by
a mismatch (swapping) of the method arguments resulting in a corrupt
bitstream.

Ohji Nakagami authored Feb 08, 2019 and David Flynn committed Feb 08, 2019

There should only be 41 entries, not 50 entries in the atan2 lookup
table used by trisoup.

Yiting Shao authored Dec 07, 2018 and David Flynn committed Feb 06, 2019

This partitioning method (--partitionMethod=3) decomposes the input
pointcloud into an octree of depth --partitionOctreeDepth=d, with
each leaf node corresponding to a slice.

Yiting Shao authored Dec 07, 2018 and David Flynn committed Feb 06, 2019

This partitioning method (--partitionMethod=2) finds the longest edge of
the point cloud and divides it into --partitionNumUniformGeom=n slices
along the longest edge.

If n = 0, the ratio of longest edge to shortest edge determines
the number of slices.

This commit provides a basic frame work for partitioning a frame into
multiple slices, with the continued assumption of single-frame
sequences.

The decoder is modified to independently decode each slice and
accumulate decoded points in a buffer for output.

The encoder is updated to support partitioning the input point cloud
into slices and to independently code each slice.  Points from
reconstructed slices are accumulated and output at the end of the
frame period.

The partitioning process (partitioning methods are defined in
partitioning.cpp) proceeds as follows:

 - quantise the input point cloud without duplicate point removal
   or reordering points.

 - apply the partitioning function to produce a list of tiles
   and slices, each slice having an origin, id, and list of point
   indexes that identify points in the input point cloud.

 - producing a source point cloud for each partition as a subset
   of the input point cloud.

 - compressing each partition (slice) as normal by quantising
   the partitioned input.  Recolouring is necessarily performed
   against the partitioned input since the recolouring method
   cannot correctly handle recolouring a partition from a complete
   point cloud.

NB: this commit does not provide any partitioning methods.

This commit provides support for each slice to have an origin
specified relative to the sequence bounding box.

Reconstructed points are offset by the slice origin prior to inverse
scaling and translation.

With slice/tile-based coding, it is necessary to build an output
point cloud from independent slice/tiles.  An append operation allows
the points of two point clouds to be concatenated.

Vladyslav Zakharchenko authored Dec 14, 2018 and David Flynn committed Feb 06, 2019

This uses a binary-tree to generate the levels-of-details for the
lifting/predicting transforms as an alternative to Euclidean distance
thresholding methods.

Jungsun Kim authored Jan 30, 2019 and David Flynn committed Feb 05, 2019

This simplified attribute prediction scheme avoids computing the
LoD structure in order to reduce the computational complexity of
both the encoder and the decoder.  It is activated by setting
levelOfDetailCount=0.

NB: this is only configured for lossless/near-lossless predictive
attribute coding of cat3 sequences.

Danillo Bracco Graziosi authored Dec 12, 2018 and David Flynn committed Feb 05, 2019

This replaces the previous floating point transform implementation with
a fixed-point alternative with essentially identical compression
performance.

Ohji Nakagami authored Feb 04, 2019 and David Flynn committed Feb 05, 2019

This commit provides an integer approximation of atan2().

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.

 - calculates the sequence bounding box at the start of encoding
   (in original coordinates as a decoder may reconstruct it)
 - signals bounding box in SPS
 - disables signalling of geometry box origin (always 0)

The configuration parameters seq_bounding_box_xyz0 and
seq_bounding_box_whd allow overriding the automatic derivation of
frame (sequence) bounding box, forcing the depth of the geometry
tree.

NB: seq_bounding_box_xyz0 and seq_bounding_box_whd are specified
    using unscaled co-ordinates.

NB: this patch does not signal these parameters in the SPS.

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