diff options
Diffstat (limited to 'extern/draco/draco/src/draco/compression/point_cloud')
9 files changed, 50 insertions, 23 deletions
diff --git a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/dynamic_integer_points_kd_tree_decoder.h b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/dynamic_integer_points_kd_tree_decoder.h index 87bc2b7ef3e..fa1b1e203e5 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/dynamic_integer_points_kd_tree_decoder.h +++ b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/dynamic_integer_points_kd_tree_decoder.h @@ -227,7 +227,7 @@ bool DynamicIntegerPointsKdTreeDecoder<compression_level_t>::DecodeInternal( std::stack<Status> status_stack; status_stack.push(init_status); - // TODO(hemmer): use preallocated vector instead of stack. + // TODO(b/199760123): Use preallocated vector instead of stack. while (!status_stack.empty()) { const DecodingStatus status = status_stack.top(); status_stack.pop(); @@ -263,7 +263,8 @@ bool DynamicIntegerPointsKdTreeDecoder<compression_level_t>::DecodeInternal( // Fast decoding of remaining bits if number of points is 1 or 2. if (num_remaining_points <= 2) { - // TODO(hemmer): axes_ not necessary, remove would change bitstream! + // TODO(b/199760123): |axes_| not necessary, remove would change + // bitstream! axes_[0] = axis; for (uint32_t i = 1; i < dimension_; i++) { axes_[i] = DRACO_INCREMENT_MOD(axes_[i - 1], dimension_); diff --git a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/dynamic_integer_points_kd_tree_encoder.h b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/dynamic_integer_points_kd_tree_encoder.h index 14fa32d7083..65b3d07a6ad 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/dynamic_integer_points_kd_tree_encoder.h +++ b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/dynamic_integer_points_kd_tree_encoder.h @@ -280,7 +280,7 @@ void DynamicIntegerPointsKdTreeEncoder<compression_level_t>::EncodeInternal( std::stack<Status> status_stack; status_stack.push(init_status); - // TODO(hemmer): use preallocated vector instead of stack. + // TODO(b/199760123): Use preallocated vector instead of stack. while (!status_stack.empty()) { Status status = status_stack.top(); status_stack.pop(); @@ -305,7 +305,8 @@ void DynamicIntegerPointsKdTreeEncoder<compression_level_t>::EncodeInternal( // Fast encoding of remaining bits if number of points is 1 or 2. // Doing this also for 2 gives a slight additional speed up. if (num_remaining_points <= 2) { - // TODO(hemmer): axes_ not necessary, remove would change bitstream! + // TODO(b/199760123): |axes_| not necessary, remove would change + // bitstream! axes_[0] = axis; for (uint32_t i = 1; i < dimension_; i++) { axes_[i] = DRACO_INCREMENT_MOD(axes_[i - 1], dimension_); diff --git a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/float_points_tree_decoder.cc b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/float_points_tree_decoder.cc index 9e8d895f176..dffaa4c8d20 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/float_points_tree_decoder.cc +++ b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/float_points_tree_decoder.cc @@ -69,18 +69,29 @@ FloatPointsTreeDecoder::FloatPointsTreeDecoder() bool FloatPointsTreeDecoder::DecodePointCloudKdTreeInternal( DecoderBuffer *buffer, std::vector<Point3ui> *qpoints) { - if (!buffer->Decode(&qinfo_.quantization_bits)) return false; - if (qinfo_.quantization_bits > 31) return false; - if (!buffer->Decode(&qinfo_.range)) return false; - if (!buffer->Decode(&num_points_)) return false; - if (num_points_from_header_ > 0 && num_points_ != num_points_from_header_) + if (!buffer->Decode(&qinfo_.quantization_bits)) { return false; - if (!buffer->Decode(&compression_level_)) return false; + } + if (qinfo_.quantization_bits > 31) { + return false; + } + if (!buffer->Decode(&qinfo_.range)) { + return false; + } + if (!buffer->Decode(&num_points_)) { + return false; + } + if (num_points_from_header_ > 0 && num_points_ != num_points_from_header_) { + return false; + } + if (!buffer->Decode(&compression_level_)) { + return false; + } // Only allow compression level in [0..6]. if (6 < compression_level_) { - LOGE("FloatPointsTreeDecoder: compression level %i not supported.\n", - compression_level_); + DRACO_LOGE("FloatPointsTreeDecoder: compression level %i not supported.\n", + compression_level_); return false; } diff --git a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/float_points_tree_encoder.h b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/float_points_tree_encoder.h index 26ba94f1f59..44c1b3d3a97 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/float_points_tree_encoder.h +++ b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/float_points_tree_encoder.h @@ -44,7 +44,7 @@ namespace draco { // there are more leading zeros, which is then compressed better by the // arithmetic encoding. -// TODO(hemmer): Remove class because it duplicates quantization code. +// TODO(b/199760123): Remove class because it duplicates quantization code. class FloatPointsTreeEncoder { public: explicit FloatPointsTreeEncoder(PointCloudCompressionMethod method); @@ -91,7 +91,7 @@ bool FloatPointsTreeEncoder::EncodePointCloud(InputIteratorT points_begin, // Collect necessary data for encoding. num_points_ = std::distance(points_begin, points_end); - // TODO(hemmer): Extend quantization tools to make this more automatic. + // TODO(b/199760123): Extend quantization tools to make this more automatic. // Compute range of points for quantization std::vector<Point3ui> qpoints; qpoints.reserve(num_points_); diff --git a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/integer_points_kd_tree_decoder.h b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/integer_points_kd_tree_decoder.h index 94e523cadaf..bc31af58613 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/integer_points_kd_tree_decoder.h +++ b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/integer_points_kd_tree_decoder.h @@ -12,7 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. // -// TODO(hemmer): Make this a wrapper using DynamicIntegerPointsKdTreeDecoder. +// TODO(b/199760123): Make this a wrapper using +// DynamicIntegerPointsKdTreeDecoder. // // See integer_points_kd_tree_encoder.h for documentation. diff --git a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/integer_points_kd_tree_encoder.h b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/integer_points_kd_tree_encoder.h index b8811092ed7..654f14a7866 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/integer_points_kd_tree_encoder.h +++ b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/integer_points_kd_tree_encoder.h @@ -12,7 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. // -// TODO(hemmer): Make this a wrapper using DynamicIntegerPointsKdTreeEncoder. +// TODO(b/199760123): Make this a wrapper using +// DynamicIntegerPointsKdTreeEncoder. #ifndef DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_INTEGER_POINTS_KD_TREE_ENCODER_H_ #define DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_INTEGER_POINTS_KD_TREE_ENCODER_H_ diff --git a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/quantize_points_3.h b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/quantize_points_3.h index 01943ad9e6c..04aa1d95e11 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/quantize_points_3.h +++ b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/quantize_points_3.h @@ -22,7 +22,7 @@ namespace draco { -// TODO(hemmer): Make this a stable bounding box. +// TODO(b/199760123): Make this a stable bounding box. struct QuantizationInfo { uint32_t quantization_bits; float range; diff --git a/extern/draco/draco/src/draco/compression/point_cloud/point_cloud_decoder.cc b/extern/draco/draco/src/draco/compression/point_cloud/point_cloud_decoder.cc index 5196edf960c..85f7bc94e33 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/point_cloud_decoder.cc +++ b/extern/draco/draco/src/draco/compression/point_cloud/point_cloud_decoder.cc @@ -88,7 +88,9 @@ Status PointCloudDecoder::Decode(const DecoderOptions &options, const uint8_t max_supported_minor_version = header.encoder_type == POINT_CLOUD ? kDracoPointCloudBitstreamVersionMinor : kDracoMeshBitstreamVersionMinor; + // Check for version compatibility. +#ifdef DRACO_BACKWARDS_COMPATIBILITY_SUPPORTED if (version_major_ < 1 || version_major_ > max_supported_major_version) { return Status(Status::UNKNOWN_VERSION, "Unknown major version."); } @@ -96,6 +98,14 @@ Status PointCloudDecoder::Decode(const DecoderOptions &options, version_minor_ > max_supported_minor_version) { return Status(Status::UNKNOWN_VERSION, "Unknown minor version."); } +#else + if (version_major_ != max_supported_major_version) { + return Status(Status::UNKNOWN_VERSION, "Unsupported major version."); + } + if (version_minor_ != max_supported_minor_version) { + return Status(Status::UNKNOWN_VERSION, "Unsupported minor version."); + } +#endif buffer_->set_bitstream_version( DRACO_BITSTREAM_VERSION(version_major_, version_minor_)); diff --git a/extern/draco/draco/src/draco/compression/point_cloud/point_cloud_encoder.cc b/extern/draco/draco/src/draco/compression/point_cloud/point_cloud_encoder.cc index b4b0ee94093..a1fda8d5a50 100644 --- a/extern/draco/draco/src/draco/compression/point_cloud/point_cloud_encoder.cc +++ b/extern/draco/draco/src/draco/compression/point_cloud/point_cloud_encoder.cc @@ -62,12 +62,14 @@ Status PointCloudEncoder::EncodeHeader() { buffer_->Encode("DRACO", 5); // Version (major, minor). const uint8_t encoder_type = GetGeometryType(); - const uint8_t version_major = encoder_type == POINT_CLOUD - ? kDracoPointCloudBitstreamVersionMajor - : kDracoMeshBitstreamVersionMajor; - const uint8_t version_minor = encoder_type == POINT_CLOUD - ? kDracoPointCloudBitstreamVersionMinor - : kDracoMeshBitstreamVersionMinor; + uint8_t version_major, version_minor; + version_major = encoder_type == POINT_CLOUD + ? kDracoPointCloudBitstreamVersionMajor + : kDracoMeshBitstreamVersionMajor; + version_minor = encoder_type == POINT_CLOUD + ? kDracoPointCloudBitstreamVersionMinor + : kDracoMeshBitstreamVersionMinor; + buffer_->Encode(version_major); buffer_->Encode(version_minor); // Type of the encoder (point cloud, mesh, ...). |