ppiSegmenter.hpp

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#pragma once
 
#include <cstdint>
#include <vector>
#include "patchGeneration/robin_hood.h"
#include "utils/constants.hpp"
#include "uvgutils/utils.hpp"
#include "uvgvpcc/uvgvpcc.hpp"
 
using namespace uvgvpcc_enc;
 
 
enum class VoxClass : uint8_t {
    NO_EDGE = 0x00,        // one ppi-vaue in a voxel
    INDIRECT_EDGE = 0x01,  // adjcent voxels of M_DIRECT_EDGE, S_DIRECT_EDGE
    M_DIRECT_EDGE = 0x10,  // multiple points && more than two ppi-values in a voxel TODO(lf)verify if typo -> (more than one instead no ?)
    S_DIRECT_EDGE = 0x11   // single-point in a voxel, considered as a direct edge-voxel
};
// TODO(lf): why to distinguish M and S direct edge ?
// TODO(lf): Are S DIRECT EGDE always considered as direct edge ? Even if they share the same PPI as their neighbor ? Does this mean each
// iteration focus on all single  direct edge voxel ?
 
struct VoxelAttribute {
    bool updateFlag_;
    // size_t nbPoint_;  // TODO(lf): not used ?
    VoxClass voxClass_;
    size_t voxPPI_;
    std::vector<size_t> voxScore_;  // TODO(lf): should be an array ?
    // Voxel score is a PPI histogram : how many points inside the voxel is associated with each projection planes //
 
    explicit VoxelAttribute(const size_t projectionPlaneCount_);
};
 
class PPISegmenter {
   public:
    PPISegmenter(const std::vector<uvgutils::VectorN<typeGeometryInput, 3>>& pointsGeometry,
                 const std::vector<uvgutils::VectorN<double, 3>>& pointsNormals);
 
    void initialSegmentation(const std::shared_ptr<uvgvpcc_enc::Frame>& frame,std::vector<size_t>& pointsPPIs, const size_t& frameId);
    void refineSegmentation(const std::shared_ptr<uvgvpcc_enc::Frame>& frame,std::vector<size_t>& pointsPPIs, const size_t& frameId);
 
   private:
    static void voxelizationWithBitArray(const std::vector<uvgutils::VectorN<typeGeometryInput, 3>>& inputPointsGeometry,
                                         std::vector<bool>& occFlagArray, robin_hood::unordered_map<size_t, size_t>& voxelIdxMap,
                                         std::vector<size_t>& filledVoxels, std::vector<std::vector<size_t>>& pointListInVoxels);                                         
 
    static void fillNeighborAndAdjacentLists(
        std::vector<size_t>& filledVoxels, std::vector<bool>& occFlagArray, robin_hood::unordered_map<size_t, size_t>& voxelIdxMap,
        std::vector<std::vector<size_t>>& ADJ_List, std::vector<std::vector<size_t>>& IDEV_List,
        std::vector<std::vector<size_t>>& pointListInVoxels, std::vector<double>& voxWeightList,
        std::vector<VoxelAttribute>& voxAttributeList, const std::vector<size_t>& pointsPPIs);        
 
    static void computeExtendedScore(std::vector<size_t>& voxExtendedScore, const std::vector<size_t>& ADJ_List,
                                               const std::vector<VoxelAttribute>& voxAttributeList);
 
    static void updateAdjacentVoxelsClass(std::vector<VoxelAttribute>& voxAttributeList,
                                                    const std::vector<size_t>& voxExtendedScore,
                                                    const std::vector<size_t>& IDEV_List);
    static inline bool checkNEV(const VoxClass voxClass, const size_t voxPPI,
                                          const std::vector<size_t>& voxExtendedScore);
 
    inline void refinePointsPPIs(std::vector<size_t>& pointsPPIs, const std::vector<size_t>& pointsIndices,
                                           const double weight, const std::vector<size_t>& voxExtendedScore) const;
    static inline void updateVoxelAttribute(VoxelAttribute& voxAttribute, const std::vector<size_t>& voxPoints,
                                                      const std::vector<size_t>& pointsPPIs);
    
    const std::vector<uvgutils::VectorN<double, 3>>& pointsNormals_;
    const std::vector<uvgutils::VectorN<typeGeometryInput, 3>>& pointsGeometry_;
    const typeGeometryInput geoMax_;
    const typeGeometryInput geoRange_;
};