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"""
Serialization Encoding
Pointcept detached version
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
# Copyright (c) Meta Platforms, Inc. and affiliates.
#
# 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.
import torch
from .z_order import xyz2key as z_order_encode_
from .z_order import key2xyz as z_order_decode_
from .hilbert import encode as hilbert_encode_
from .hilbert import decode as hilbert_decode_
@torch.inference_mode()
def encode(grid_coord, batch=None, depth=16, order="z"):
assert order in {"z", "z-trans", "hilbert", "hilbert-trans"}
if order == "z":
code = z_order_encode(grid_coord, depth=depth)
elif order == "z-trans":
code = z_order_encode(grid_coord[:, [1, 0, 2]], depth=depth)
elif order == "hilbert":
code = hilbert_encode(grid_coord, depth=depth)
elif order == "hilbert-trans":
code = hilbert_encode(grid_coord[:, [1, 0, 2]], depth=depth)
else:
raise NotImplementedError
if batch is not None:
batch = batch.long()
code = batch << depth * 3 | code
return code
@torch.inference_mode()
def decode(code, depth=16, order="z"):
assert order in {"z", "hilbert"}
batch = code >> depth * 3
code = code & ((1 << depth * 3) - 1)
if order == "z":
grid_coord = z_order_decode(code, depth=depth)
elif order == "hilbert":
grid_coord = hilbert_decode(code, depth=depth)
else:
raise NotImplementedError
return grid_coord, batch
def z_order_encode(grid_coord: torch.Tensor, depth: int = 16):
x, y, z = grid_coord[:, 0].long(), grid_coord[:, 1].long(), grid_coord[:, 2].long()
# we block the support to batch, maintain batched code in Point class
code = z_order_encode_(x, y, z, b=None, depth=depth)
return code
def z_order_decode(code: torch.Tensor, depth):
x, y, z = z_order_decode_(code, depth=depth)
grid_coord = torch.stack([x, y, z], dim=-1) # (N, 3)
return grid_coord
def hilbert_encode(grid_coord: torch.Tensor, depth: int = 16):
return hilbert_encode_(grid_coord, num_dims=3, num_bits=depth)
def hilbert_decode(code: torch.Tensor, depth: int = 16):
return hilbert_decode_(code, num_dims=3, num_bits=depth)
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