1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
|
// Copyright 2016 The Draco Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
#ifndef DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_QUANTIZE_POINTS_3_H_
#define DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_QUANTIZE_POINTS_3_H_
#include <inttypes.h>
#include "draco/compression/point_cloud/algorithms/point_cloud_types.h"
#include "draco/core/quantization_utils.h"
namespace draco {
// TODO(b/199760123): Make this a stable bounding box.
struct QuantizationInfo {
uint32_t quantization_bits;
float range;
};
template <class PointIterator, class OutputIterator>
OutputIterator QuantizePoints3(const PointIterator &begin,
const PointIterator &end, QuantizationInfo *info,
OutputIterator oit) {
DRACO_DCHECK_GE(info->quantization_bits, 0);
float max_range = 0;
for (auto it = begin; it != end; ++it) {
max_range = std::max(std::fabs((*it)[0]), max_range);
max_range = std::max(std::fabs((*it)[1]), max_range);
max_range = std::max(std::fabs((*it)[2]), max_range);
}
const uint32_t max_quantized_value((1 << info->quantization_bits) - 1);
Quantizer quantize;
quantize.Init(max_range, max_quantized_value);
info->range = max_range;
Point3ui qpoint;
for (auto it = begin; it != end; ++it) {
// Quantize and all positive.
qpoint[0] = quantize((*it)[0]) + max_quantized_value;
qpoint[1] = quantize((*it)[1]) + max_quantized_value;
qpoint[2] = quantize((*it)[2]) + max_quantized_value;
*oit++ = (qpoint);
}
return oit;
}
template <class QPointIterator, class OutputIterator>
void DequantizePoints3(const QPointIterator &begin, const QPointIterator &end,
const QuantizationInfo &info, OutputIterator &oit) {
DRACO_DCHECK_GE(info.quantization_bits, 0);
DRACO_DCHECK_GE(info.range, 0);
const uint32_t quantization_bits = info.quantization_bits;
const float range = info.range;
const uint32_t max_quantized_value((1 << quantization_bits) - 1);
Dequantizer dequantize;
dequantize.Init(range, max_quantized_value);
for (auto it = begin; it != end; ++it) {
const float x = dequantize((*it)[0] - max_quantized_value);
const float y = dequantize((*it)[1] - max_quantized_value);
const float z = dequantize((*it)[2] - max_quantized_value);
*oit = Point3f(x, y, z);
++oit;
}
}
} // namespace draco
#endif // DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_QUANTIZE_POINTS_3_H_
|
