Increase accuracy of OctreePointCloudCompression #6273
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Change decoding so that the xyz coordinates are closer to the original values. The reasoning is that, if a value is known to be between 0 and 1, using 0.5 is a better approximation than using 0 (like before). In experiments, I measure a decrease in the point-to-point error of 7-20 percent for profiles MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, MED_RES_ONLINE_COMPRESSION_WITH_COLOR, and MED_RES_OFFLINE_COMPRESSION_WITH_COLOR, and a decrease of up to 50 percent for profiles HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR, and HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR. For the other profiles, this change has no effect, because they enable voxel grid downsampling.
mvieth
added
changelog: enhancement
larshg
approved these changes
Apr 26, 2025
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Change decoding so that the xyz coordinates are closer to the original values. The reasoning is that, if a value is known to be between 0 and 1, using 0.5 is a better approximation than using 0 (like before). In experiments, I measure a decrease in the point-to-point error of 7-20 percent for profiles MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, MED_RES_ONLINE_COMPRESSION_WITH_COLOR, and MED_RES_OFFLINE_COMPRESSION_WITH_COLOR, and a decrease of up to 50 percent for profiles HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR, and HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR. For the other profiles, this change has no effect, because they enable voxel grid downsampling.