Improved patch segmentation

- Faster patch segmentation
- Add a parameter for depth filtering
- Remove the distance 1 check for CC seed
- Remove the patch splitting feature
- Remove the need of the frame 'patchPartition'
- Update CI sha

Author: Louis Fréneau

CMakeLists.txt

@@ -35,7 +35,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(${USE_CLANG_TIDY})
-  set(CLANG_TIDY_DEFAULT "clang-tidy;-checks=*,-llvmlibc-*,-llvm-*,-modernize-*,-fuchsia-*,-altera-*,-hicpp-use-auto,-bugprone-easily-swappable-parameters,-performance-avoid-endl,-cppcoreguidelines-pro-bounds-constant-array-index,-cppcoreguidelines-avoid-magic-numbers,-readability-magic-numbers,-readability-identifier-length,-readability-math-missing-parentheses,-readability-function-cognitive-complexity,-boost-use-ranges,-misc-non-private-member-variables-in-classes,-cppcoreguidelines-avoid-non-const-global-variables,-abseil-string-find-str-contains,-cppcoreguidelines-avoid-do-while,-readability-use-std-min-max,-google-build-using-namespace,-cppcoreguidelines-pro-bounds-pointer-arithmetic,-hicpp-braces-around-statements,-readability-braces-around-statements")
+  set(CLANG_TIDY_DEFAULT "clang-tidy;-checks=*,-llvmlibc-*,-llvm-*,-modernize-*,-fuchsia-*,-altera-*,-hicpp-use-auto,-bugprone-easily-swappable-parameters,-performance-avoid-endl,-cppcoreguidelines-pro-bounds-constant-array-index,-cppcoreguidelines-avoid-magic-numbers,-readability-magic-numbers,-readability-identifier-length,-readability-math-missing-parentheses,-readability-function-cognitive-complexity,-boost-use-ranges,-misc-non-private-member-variables-in-classes,-cppcoreguidelines-avoid-non-const-global-variables,-abseil-string-find-str-contains,-cppcoreguidelines-avoid-do-while,-readability-use-std-min-max,-google-build-using-namespace,-cppcoreguidelines-pro-bounds-pointer-arithmetic,-hicpp-braces-around-statements,-readability-braces-around-statements,-google-readability-braces-around-statements")
 endif()
 
 # Useful for debugging

src/lib/include/uvgvpcc/uvgvpcc.hpp

@@ -68,7 +68,7 @@ struct Patch {
 
     bool projectionMode_;  // 0: related to the min depth value; 1: related to the max value
 
-    size_t sizeD_;  // size for depth (TODO(lf): is it the real patch thickness or the maximum possible thickness?)
+    size_t sizeD_;  // while posD_ is the minimum 'depth', sizeD_ store the maximum depth. TODO(lf): check if it is usefull
 
     std::vector<uint8_t> patchOccupancyMap_;  // patch occupancy map (boolean vector)
 
@@ -114,7 +114,7 @@ struct Patch {
         projectionMode_ = projectionMode;  // TODO(lf): projection mode optimization per patch
     }
 
-    void setPatchPpi(size_t patchPpi) {
+    inline void setPatchPpiAndAxis(size_t patchPpi) {
         patchPpi_ = patchPpi;
         // now set the other variables according to the viewId
         switch (patchPpi_) {
@@ -183,7 +183,6 @@ struct Frame {
     std::vector<Vector3<uint8_t>> pointsAttribute;
 
     std::vector<Patch> patchList;
-    std::vector<size_t> patchPartition;  // Associate a point index to the index of its patch
 
     size_t mapHeight = 0;              // TODO(lf): Will be a gof parameter ?
     size_t mapHeightDS = 0;

src/lib/patchGeneration/patchGeneration.cpp

@@ -126,7 +126,7 @@ void PatchGeneration::generateFramePatches(std::shared_ptr<uvgvpcc_enc::Frame> f
     }
 
     // Patch segmentation //
-    PatchSegmentation::patchSegmentation(frame, pointsPPIs);
+    PatchSegmentation::patchSegmentation(frame, pointsPPIs); 
 
     // Sort patches //
     // Sort patches from the biggest to the smallest // // TODO(lf): might be better to use area ?
@@ -135,7 +135,7 @@ void PatchGeneration::generateFramePatches(std::shared_ptr<uvgvpcc_enc::Frame> f
         return std::max(patchA.widthInPixel_, patchA.heightInPixel_) > std::max(patchB.widthInPixel_, patchB.heightInPixel_);
     });
 
-
     std::vector<Vector3<typeGeometryInput>>().swap(frame->pointsGeometry); // Release memory
+    //TODO(lf): try using noexcept to improve performance
 
 }

src/lib/patchGeneration/patchSegmentation.cpp

@@ -34,38 +34,12 @@
 
 #pragma once
 
-#include "robin_hood.h"
 #include "uvgvpcc/uvgvpcc.hpp"
 
 using namespace uvgvpcc_enc;
 
 
 class PatchSegmentation {
    public:
-    PatchSegmentation();
-
     static void patchSegmentation(const std::shared_ptr<uvgvpcc_enc::Frame>& frame, const std::vector<size_t>& pointsPPIs);
-    
-    static void createConnectedComponents(std::vector<std::vector<size_t>>& connectedComponents, std::vector<bool>& flags,
-                                             const std::vector<size_t>& rawPoints, const std::vector<size_t>& pointsPPIs,
-                                             robin_hood::unordered_map<size_t, size_t>& nnPropagationMapFlagTrue,
-                                             const std::vector<uvgvpcc_enc::Vector3<typeGeometryInput>>& pointsGeometry);                                             
-    static void patchSplitting(std::vector<size_t>& connectedComponent, uvgvpcc_enc::Patch& patch,
-                               const std::vector<uvgvpcc_enc::Vector3<typeGeometryInput>>& pointsGeometry);
-    static void computePatchBoundingBox(uvgvpcc_enc::Patch& patch, const std::vector<size_t>& connectedComponent,
-                                        const std::vector<uvgvpcc_enc::Vector3<typeGeometryInput>>& pointsGeometry);
-    static void computePatchDepthL1(uvgvpcc_enc::Patch& patch, const std::vector<size_t>& connectedComponent,
-                                    std::vector<size_t>& patchPartition,
-                                    const std::vector<uvgvpcc_enc::Vector3<typeGeometryInput>>& pointsGeometry, const bool isProjectionMode0);
-    static void computePatchDepthL2(uvgvpcc_enc::Patch& patch, const std::vector<size_t>& connectedComponent,
-                                    const std::vector<uvgvpcc_enc::Vector3<typeGeometryInput>>& pointsGeometry, const bool isProjectionMode0);
-    static void filterDepth(uvgvpcc_enc::Patch& patch, const bool isProjectionMode0);
-    static void resampledPointcloud(robin_hood::unordered_set<size_t>& resamplePointSet, uvgvpcc_enc::Patch& patch);  // TODO(lf)const patch ?
-
-    static void computeAdditionalPatchInfo(uvgvpcc_enc::Patch& patch);
-    static void refillRawPoints(const robin_hood::unordered_set<size_t>& resamplePointSet, std::vector<size_t>& rawPoints,
-                                   const std::vector<uvgvpcc_enc::Vector3<typeGeometryInput>>& pointsGeometry, const size_t& pointCount,
-                                   std::vector<bool>& flags, robin_hood::unordered_map<size_t, size_t>& nnPropagationMapFlagTrue);                                   
-
-    
 };

src/lib/patchGeneration/patchSegmentation.hpp

@@ -193,8 +193,6 @@ void initializeParameterMap(Parameters& param) {
         // ___ Patch generation ___ //   (patch segmentation)
         {"maxAllowedDist2RawPointsDetection", {UINT, "", &param.maxAllowedDist2RawPointsDetection}},
         {"minPointCountPerCC", {UINT, "", &param.minPointCountPerCC}},
-        {"maxPatchSize", {UINT, "", &param.maxPatchSize}},
-        {"maxNNCountPatchSegmentation", {UINT, "", &param.maxNNCountPatchSegmentation}},
         {"patchSegmentationMaxPropagationDistance", {UINT, "", &param.patchSegmentationMaxPropagationDistance}},
         {"enablePatchSplitting", {BOOL, "", &param.enablePatchSplitting}},
         {"minLevel", {UINT, "", &param.minLevel}},

src/lib/utils/parameters.cpp

@@ -100,8 +100,6 @@ struct Parameters {
     // ___ Patch generation ___ //   (patch segmentation)
     size_t maxAllowedDist2RawPointsDetection = 5; // TODO(lf): add verification to avoid segfault because index out of bound
     size_t minPointCountPerCC;
-    size_t maxPatchSize;               // TODO(lf): debug when maxPatchSize = 200
-    size_t maxNNCountPatchSegmentation = 5;  // TODO(lf)check max all NN
     size_t patchSegmentationMaxPropagationDistance = 3;  
         // lf : for reworked function only. If the value is 4, the euclidian distance is 16.  // TODO(lf): the default value should be 2 I
             // guess // Nop, it should be 1 // TODO(lf): make sure to use <= instead of < in the for loop so to avoid this confusion.
@@ -114,6 +112,7 @@ struct Parameters {
     size_t quantizerSizeX = static_cast<size_t>(1) << log2QuantizerSizeX; // TODO(lf): investigate
     size_t quantizerSizeY = static_cast<size_t>(1) << log2QuantizerSizeY;
     size_t surfaceThickness = 4;
+    size_t distanceFiltering = 32; // tmp_a in TMC2 // TODO(lf) check impact on quality
 
 
     // ___ Patch packing ___ //

src/lib/utils/parameters.hpp

@@ -67,8 +67,7 @@ Preset preset_vox9_fast = {
 
     // ___ Patch generation ___ //   (patch segmentation)
     {"minPointCountPerCC","16"},   // TODO(lf)-PRESET: subjective quality and performance only 
-    {"maxPatchSize","608"},    // TODO(lf)-PRESET: subjective quality and performance only
-
+    
     // ___ Patch packing ___ //
     {"mapWidth","608"},
     {"minimumMapHeight","608"},
@@ -104,8 +103,7 @@ Preset preset_vox9_slow = {
 
     // ___ Patch generation ___ //   (patch segmentation)
     {"minPointCountPerCC","5"}, // TODO(lf)-PRESET: fixed
-    {"maxPatchSize","608"},
-
+    
     // ___ Patch packing ___ //
     {"mapWidth","608"},
     {"minimumMapHeight","608"},
@@ -142,8 +140,7 @@ Preset preset_vox10_fast = {
 
     // ___ Patch generation ___ //   (patch segmentation)
     {"minPointCountPerCC","16"},
-    {"maxPatchSize","1024"},
-
+    
     // ___ Patch packing ___ //
     {"mapWidth","1024"},
     {"minimumMapHeight","1024"},
@@ -179,8 +176,7 @@ Preset preset_vox10_slow = {
 
     // ___ Patch generation ___ //   (patch segmentation)
     {"minPointCountPerCC","5"},
-    {"maxPatchSize","1024"},
-
+    
     // ___ Patch packing ___ //
     {"mapWidth","1024"},
     {"minimumMapHeight","1024"},
@@ -216,8 +212,7 @@ Preset preset_vox11_fast = {
 
     // ___ Patch generation ___ //   (patch segmentation)
     {"minPointCountPerCC","16"},
-    {"maxPatchSize","2048"},
-
+    
     // ___ Patch packing ___ //
     {"mapWidth","2048"},
     {"minimumMapHeight","2048"},
@@ -253,8 +248,7 @@ Preset preset_vox11_slow = {
 
     // ___ Patch generation ___ //   (patch segmentation)
     {"minPointCountPerCC","16"},
-    {"maxPatchSize","2048"},
-
+    
     // ___ Patch packing ___ //
     {"mapWidth","2048"},
     {"minimumMapHeight","2048"},
@@ -351,8 +345,7 @@ void applyPreset(Parameters& param) {
         // Adjust the size of the max size of the patch and maps dimension
         const std::string scaledSize = std::to_string((1 + param.geoBitDepthInput - 11) * 2048);
 
-        setParameterValue("maxPatchSize", scaledSize, true);
-        setParameterValue("mapWidth", scaledSize, true);
+                setParameterValue("mapWidth", scaledSize, true);
         setParameterValue("minimumMapHeight", scaledSize, true);
 
         Logger::log<LogLevel::WARNING>("LIBRARY INTERFACE",

src/lib/utils/preset.cpp

@@ -170,12 +170,6 @@ void verifyConfig() {
         throw std::runtime_error("The occupancy maps should not be encoded in lossy mode. (At least, this is a very dangerous things to try.)");
     }
 
-    if (p_->maxPatchSize > p_->mapWidth && p_->maxPatchSize > p_->minimumMapHeight) {
-        throw std::runtime_error("The maxPatchSize (" + std::to_string(p_->maxPatchSize) + ") is higher than the mapWidth (" +
-                                 std::to_string(p_->mapWidth) + ") and higher than the minimum image height (" +
-                                 std::to_string(p_->minimumMapHeight) + ")");
-    }
-
     if (roundUp(p_->minimumMapHeight, p_->occupancyMapDSResolution) != p_->minimumMapHeight ||
         roundUp(p_->minimumMapHeight / p_->occupancyMapDSResolution, 8) != p_->minimumMapHeight / p_->occupancyMapDSResolution) {
         throw std::runtime_error(
@@ -452,8 +446,7 @@ void Frame::printInfo() const {
                 "Frame " + std::to_string(frameId) + " :\n" + "\tPath: " + pointCloudPath + "\n" + "\tFrame Number: " +
                     std::to_string(frameNumber) + "\n" + "\tpointsGeometry size: " + std::to_string(pointsGeometry.size()) + "\n" +
                     "\tpointsAttribute size: " + std::to_string(pointsAttribute.size()) + "\n" +
-                    "\tpatchList size: " + std::to_string(patchList.size()) + "\n" + "\tpatchPartition size: " +
-                    std::to_string(patchPartition.size()) + "\n" + "\toccupancyMapDS size: " + std::to_string(occupancyMapDS.size()) + "\n" +
+                    "\tpatchList size: " + std::to_string(patchList.size()) + "\n" + "\toccupancyMapDS size: " + std::to_string(occupancyMapDS.size()) + "\n" +
                     "\tgeometryMapL1 size: " + std::to_string(geometryMapL1.size()) + "\n" + "\tgeometryMapL2 size: " +
                     std::to_string(geometryMapL2.size()) + "\n" + "\tattributeMapL1 size: " + std::to_string(attributeMapL1.size()) + "\n" +
                     "\tattributeMapL2 size: " + std::to_string(attributeMapL2.size()) + "\n");

src/lib/uvgvpcc.cpp

@@ -1,13 +1,13 @@
 test_name,md5_bitstream,md5_pc;
-ReadyForWinter_vox9_fast_RA_16-22-2,333aeb5eb21035bcc2abeeff5c52a573,;
-ReadyForWinter_vox9_slow_RA_32-42-4,32353a763ddaebe2e6ff1ce52739d830,;
-ReadyForWinter_vox9_fast_AI_32-42-4,b4bab650cd464b2326d0432d7f2eb042,;
-ReadyForWinter_vox9_slow_AI_16-22-2,73b01e11299f8b462b206afd7aaf7d34,;
-FlowerWave_vox10_fast_RA_32-42-4,29eac2d4198dc7324ad9af4933909f4a,;
-Gymnast_vox10_slow_RA_16-22-2,d18d16bb9708fa6dad78995604f4c819,;
-Gymnast_vox10_fast_AI_32-42-4,7c488e8c9a8912ecceb0bab74c4040a6,;
-FlowerWave_vox10_fast_AI_16-22-2,9b8dfcc76e9d4f0d96d941582b2e0428,;
-CasualSquat_vox11_fast_RA_16-22-2,7d5ab945791e466e329cc93658235f87,;
-BlueBackpack_vox11_slow_RA_16-22-2,d972384afdc565760457e724e6aa6076,;
-BlueBackpack_vox11_slow_AI_32-42-4,2615e98fd2dc5f3e96633f306522e9f6,;
-CasualSquat_vox11_slow_AI_32-42-4,0f8b0f48e9a9405d897d89dd9b87f194,;
+ReadyForWinter_vox9_fast_RA_16-22-2,e2733465733127770bffc9dfc5a50a02,;
+ReadyForWinter_vox9_slow_RA_32-42-4,294ea4a9af88a688a256fe6ec2986da0,;
+ReadyForWinter_vox9_fast_AI_32-42-4,0a509b057003bbbf8237e7c991b59627,;
+ReadyForWinter_vox9_slow_AI_16-22-2,7b86fa43a005889ab801faf2c585ee98,;
+FlowerWave_vox10_fast_RA_32-42-4,869239ace9530e9fcf1027db3a83a79f,;
+Gymnast_vox10_slow_RA_16-22-2,c3f0ecd6faa22a172fa791d4e11357eb,;
+Gymnast_vox10_fast_AI_32-42-4,bfb4952094daaa2d824dce08dd020d8f,;
+FlowerWave_vox10_fast_AI_16-22-2,d58ee550c201fd72e114fb576fb56f08,;
+CasualSquat_vox11_fast_RA_16-22-2,cead9feeccca59da9d1c3ff47933197e,;
+BlueBackpack_vox11_slow_RA_16-22-2,bc8a39a74df2079253b1e0531486d9b7,;
+BlueBackpack_vox11_slow_AI_32-42-4,7a5c727fd008f76ed71c96e2485c16a9,;
+CasualSquat_vox11_slow_AI_32-42-4,d5aa84d58efbc8273af2f9198b7b8fd0,;