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87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
// Copyright 2016 The Draco Authors.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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#ifndef DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_QUANTIZE_POINTS_3_H_
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#define DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_QUANTIZE_POINTS_3_H_
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#include <inttypes.h>
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#include "compression/point_cloud/algorithms/point_cloud_types.h"
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#include "core/quantization_utils.h"
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namespace draco {
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// TODO(hemmer): Make this a stable bounding box.
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struct QuantizationInfo {
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uint32_t quantization_bits;
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float range;
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};
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template <class PointIterator, class OutputIterator>
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OutputIterator QuantizePoints3(const PointIterator &begin,
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const PointIterator &end, QuantizationInfo *info,
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OutputIterator oit) {
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DCHECK_GE(info->quantization_bits, 0);
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float max_range = 0;
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for (auto it = begin; it != end; ++it) {
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max_range = std::max(std::fabs((*it)[0]), max_range);
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max_range = std::max(std::fabs((*it)[1]), max_range);
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max_range = std::max(std::fabs((*it)[2]), max_range);
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}
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const uint32_t max_quantized_value((1 << info->quantization_bits) - 1);
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Quantizer quantize;
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quantize.Init(max_range, max_quantized_value);
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info->range = max_range;
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Point3ui qpoint;
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for (auto it = begin; it != end; ++it) {
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// Quantize and all positive.
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qpoint[0] = quantize((*it)[0]) + max_quantized_value;
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qpoint[1] = quantize((*it)[1]) + max_quantized_value;
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qpoint[2] = quantize((*it)[2]) + max_quantized_value;
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*oit++ = (qpoint);
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}
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return oit;
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}
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template <class QPointIterator, class OutputIterator>
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OutputIterator DequantizePoints3(const QPointIterator &begin,
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const QPointIterator &end,
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const QuantizationInfo &info,
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OutputIterator oit) {
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DCHECK_GE(info.quantization_bits, 0);
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DCHECK_GE(info.range, 0);
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const uint32_t quantization_bits = info.quantization_bits;
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const float range = info.range;
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const uint32_t max_quantized_value((1 << quantization_bits) - 1);
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Dequantizer dequantize;
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dequantize.Init(range, max_quantized_value);
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for (auto it = begin; it != end; ++it) {
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const float x = dequantize((*it)[0] - max_quantized_value);
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const float y = dequantize((*it)[1] - max_quantized_value);
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const float z = dequantize((*it)[2] - max_quantized_value);
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*oit++ = Point3f(x, y, z);
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}
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return oit;
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}
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} // namespace draco
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#endif // DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_QUANTIZE_POINTS_3_H_
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