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dither_scratchpad.py
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dither_scratchpad.py
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# -*- coding: utf-8 -*-
"""
Spyder Editor
This is a temporary script file.
"""
#!/usr/bin/env python
import numpy as np
import time
import math
from decimal import Decimal
#
pc_test = np.array([[52.249, 12.482, 2.026],
[51.769, 12.453, 2.01 ],
[51.275, 12.505, 1.994],
[50.792, 12.556, 1.978],
[50.31 , 12.604, 1.963],
[49.84 , 12.653, 1.948],
[49.363, 12.697, 1.933],
[60.72, 18.35, 1.54]]).astype(np.float64)
def qim_encode_dither(pc_input, resolution_delta):
#for [0 0 0 0] modify nothing
c_out = np.empty((0,3), np.float64)
c = np.array([0.0,0.0,0.0]).astype(np.float64)
count = 0
message = 0
for i in np.ndindex(pc_input.shape[:-1]):
print('i', i,pc_input[i])
if(message == 0):
c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 1): #[001] modify z
c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
c[2] = quantization_add_delta(pc_input[i][2], resolution_delta)
#c[2] = (np.around(((pc_input[i][2]) / resolution_delta))* resolution_delta + (resolution_delta/2.0)).astype(np.float64)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 2): #[010] modify y
c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
c[1] = quantization_add_delta(pc_input[i][1], resolution_delta)
c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 3): #[011] modify y,z
c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
c[1] = quantization_add_delta(pc_input[i][1], resolution_delta)
c[2] = quantization_add_delta(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 4): #[100] modify x
c[0] = quantization_add_delta(pc_input[i][0], resolution_delta)
c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 5): #[101] modify y,z
c[0] = quantization_add_delta(pc_input[i][0], resolution_delta)
c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
c[2] = quantization_add_delta(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 6): #[110] modify x,y
c[0] = quantization_add_delta(pc_input[i][0], resolution_delta)
c[1] = quantization_add_delta(pc_input[i][1], resolution_delta)
c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 7): #[011] modify x,y,z
c[0] = quantization_add_delta(pc_input[i][0], resolution_delta)
c[1] = quantization_add_delta(pc_input[i][1], resolution_delta)
c[2] = quantization_add_delta(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
else:
print('check the input message')
count+=1
#print('count,message', count, message)
message += 1
message = message % 8
c_out = np.append(c_out, [c], axis = 0)
#print('c_out', c_out)
return(np.array(c_out).astype(np.float64))
def qim_encode_old(pc_input, resolution_delta):
#for [0 0 0 0] modify nothing
c_out = np.empty((0,3), np.float64)
c = np.array([0.0,0.0,0.0]).astype(np.float64)
count = 0
message = 0
for i in np.ndindex(pc_input.shape[:-1]):
print('i', i,pc_input[i])
if(message == 0):
c[0] = 2*quant_(pc_input[i][0], resolution_delta)
c[1] = 2*quant_(pc_input[i][1], resolution_delta)
c[2] = 2*quant_(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 1): #[001] modify z
c[0] = 2*quant_(pc_input[i][0], resolution_delta)
c[1] = 2*quant_(pc_input[i][1], resolution_delta)
c[2] = 2*quant_(pc_input[i][2], resolution_delta) + 1
#c[2] = (np.around(((pc_input[i][2]) / resolution_delta))* resolution_delta + (resolution_delta/2.0)).astype(np.float64)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 2): #[010] modify y
c[0] = 2*quant_(pc_input[i][0], resolution_delta)
c[1] = 2*quant_(pc_input[i][1], resolution_delta) + 1
c[2] = 2*quant_(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 3): #[011] modify y,z
c[0] = 2*quant_(pc_input[i][0], resolution_delta)
c[1] = 2*quant_(pc_input[i][1], resolution_delta) + 1
c[2] = 2*quant_(pc_input[i][2], resolution_delta) + 1
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 4): #[100] modify x
c[0] = 2*quant_(pc_input[i][0], resolution_delta) + 1
c[1] = 2*quant_(pc_input[i][1], resolution_delta)
c[2] = 2*quant_(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 5): #[101] modify y,z
c[0] = 2*quant_(pc_input[i][0], resolution_delta) +1
c[1] = 2*quant_(pc_input[i][1], resolution_delta)
c[2] = 2*quant_(pc_input[i][2], resolution_delta) +1
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 6): #[110] modify x,y
c[0] = 2*quant_(pc_input[i][0], resolution_delta) +1
c[1] = 2*quant_(pc_input[i][1], resolution_delta)+1
c[2] = 2*quant_(pc_input[i][2], resolution_delta)
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
elif(message == 7): #[111] modify x,y,z
c[0] = 2*quant_(pc_input[i][0], resolution_delta) +1
c[1] = 2*quant_(pc_input[i][1], resolution_delta)+1
c[2] = 2*quant_(pc_input[i][2], resolution_delta)+1
# print('message', message)
# print('c[0]', c[0])
# print('c[1]', c[1])
# print('c[2]', c[2])
else:
print('check the input message')
count+=1
#print('count,message', count, message)
message += 1
message = message % 8
c_out = np.append(c_out, [c], axis = 0)
#print('c_out', c_out)
return(np.array(c_out*(resolution_delta/2.0)).astype(np.float64))
def quantization_add_delta(val, step):
quantized_value = (np.around(val/step)*step + (step/2.0)).astype(np.float64)
return(quantized_value)
def quantization_add_delta_decode(val, step):
quantized_value = (np.around((val-(step/2.0))/step)*step + (step/2.0)).astype(np.float64)
return(quantized_value)
def quantization_nodelta(val, step):
quantized_value = (np.around(val/step)*step).astype(np.float64)
return(quantized_value)
def quantization_halfdelta(val, step_full):
step = step_full/2.0
quantized_value = (np.around(val/step)*step).astype(np.float64)
return(quantized_value)
def quant_(val, step):
quantized_value = (np.around(val/step)).astype(np.int64)
return(quantized_value)
def qim_decode_dither(pc_input,resolution_delta):
message_decoded = []
#print('c_dist shape', c_dist)
# print('message', message)
for i in np.ndindex(pc_input.shape[:-1]):
c_dist = []
print('*********************')
print('i',i)
c = np.array([0.0,0.0,0.0]).astype(np.float64)
c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
print ('C', c)
d = np.array([0.0,0.0,0.0]).astype(np.float64)
d[0] = quantization_halfdelta(pc_input[i][0], resolution_delta)
d[1] = quantization_halfdelta(pc_input[i][1], resolution_delta)
d[2] = quantization_halfdelta(pc_input[i][2], resolution_delta)
print ('D', d)
f = np.array([0.0,0.0,0.0]).astype(np.float64)
f[0] = quantization_add_delta_decode(pc_input[i][0], resolution_delta)
f[1] = quantization_add_delta_decode(pc_input[i][1], resolution_delta)
f[2] = quantization_add_delta_decode(pc_input[i][2], resolution_delta)
print('F', f)
print('-------------')
message = []
if(abs(c[0]-d[0]) < abs(c[0]-f[0])):
message.append(0)
else:
message.append(1)
if(abs(c[1]-d[1]) < abs(c[1]-f[1])):
message.append(0)
else:
message.append(1)
if(abs(c[2]-d[2]) < abs(c[2]-f[2])):
message.append(0)
else:
message.append(1)
message_decoded.append(message)
print('message decoded', message_decoded)
# #Q0
# c = np.array([0.0,0.0,0.0]).astype(np.float64)
# # c[0] = pc_input[i][0]
# # c[1] = pc_input[i][1]
# # c[2] = pc_input[i][2]
# c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
# c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
# c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
# # print('message', message)
# # print('c[0]', c[0])
# # print('c[1]', c[1])
# # print('c[2]', c[2])
# print('i', i)
# c_dist.append(distance_manhattan(c, 'xyz', pc_input[i]))
# #Q1
# c = np.array([0.0,0.0,0.0]).astype(np.float64)
# c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
# c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
# # c[0] = pc_input[i][0]
# # c[1] = pc_input[i][1]
# c[2] = quantization_halfdelta(pc_input[i][2], resolution_delta)
# # print('message', message)
# # print('c[0]', c[0])
# # print('c[1]', c[1])
# # print('c[2]', c[2])
# #print('i', i)
# c_dist.append(distance_manhattan(c, 'z', pc_input[i]))
# #Q2
# c = np.array([0.0,0.0,0.0]).astype(np.float64)
# c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
# # c[0] = pc_input[i][0]
# c[1] = quantization_halfdelta(pc_input[i][1], resolution_delta)
# # c[2] = pc_input[i][2]
# c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
# # print('message', message)
# # print('c[0]', c[0])
# # print('c[1]', c[1])
# # print('c[2]', c[2])
# #print('i', i)
# c_dist.append(distance_manhattan(c,'y',pc_input[i]))
# #Q3
# c = np.array([0.0,0.0,0.0]).astype(np.float64)
# c[0] = quantization_nodelta(pc_input[i][0], resolution_delta)
# # c[0] = pc_input[i][0]
# c[1] = quantization_halfdelta(pc_input[i][1], resolution_delta)
# c[2] = quantization_halfdelta(pc_input[i][2], resolution_delta)
# # print('message', message)
# # print('c[0]', c[0])
# # print('c[1]', c[1])
# # print('c[2]', c[2])
# c_dist.append(distance_manhattan(c,'yz', pc_input[i]))
# #Q4
# c = np.array([0.0,0.0,0.0]).astype(np.float64)
# c[0] = quantization_halfdelta(pc_input[i][0], resolution_delta)
# # c[1] = pc_input[i][1]
# # c[2] = pc_input[i][2]
# c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
# c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
# # print('message', message)
# # print('c[0]', c[0])
# # print('c[1]', c[1])
# # print('c[2]', c[2])
# c_dist.append(distance_manhattan(c,'x',pc_input[i]))
# #Q5
# c = np.array([0.0,0.0,0.0]).astype(np.float64)
# c[0] = quantization_halfdelta(pc_input[i][0], resolution_delta)
# c[1] = quantization_nodelta(pc_input[i][1], resolution_delta)
# # c[1] = pc_input[i][1]
# c[2] = quantization_halfdelta(pc_input[i][2], resolution_delta)
# # print('message', message)
# # print('c[0]', c[0])
# # print('c[1]', c[1])
# # print('c[2]', c[2])
# c_dist.append(distance_manhattan(c, 'xz',pc_input[i]))
# #Q6
# c = np.array([0.0,0.0,0.0]).astype(np.float64)
# c[0] = quantization_halfdelta(pc_input[i][0], resolution_delta)
# c[1] = quantization_halfdelta(pc_input[i][1], resolution_delta)
# c[2] = quantization_nodelta(pc_input[i][2], resolution_delta)
# # c[2] = pc_input[i][2]
# # print('message', message)
# # print('c[0]', c[0])
# # print('c[1]', c[1])
# # print('c[2]', c[2])
# c_dist.append(distance_manhattan(c, 'xy', pc_input[i]))
# #Q7
# c = np.array([0.0,0.0,0.0]).astype(np.float64)
# c[0] = quantization_halfdelta(pc_input[i][0], resolution_delta)
# c[1] = quantization_halfdelta(pc_input[i][1], resolution_delta)
# c[2] = quantization_halfdelta(pc_input[i][2], resolution_delta)
# # print('message', message)
# # print('c[0]', c[0])
# # print('c[1]', c[1])
# # print('c[2]', c[2])
# c_dist.append(distance_manhattan(c, 'xyz', pc_input[i]))
# #find the min distance
# a_min_index = np.where(c_dist == np.min(c_dist))
# message_decoded.append(a_min_index[0][0])
# return(message_decoded)
# def distance_manhattan(pc1, mod_type ,pc2):
# print('-------------')
# print('pc1', pc1)
# print('pc2', pc2)
# print('first', abs(pc1[0].astype(np.float64) - pc2[0].astype(np.float64)))
# print('second', abs(pc1[1].astype(np.float64) - pc2[1].astype(np.float64)))
# print('third', abs(pc1[2].astype(np.float64) - pc2[2].astype(np.float64)))
# if(mod_type == 'xyz'):
# # print('xzy')
# dist = (abs(pc1[0].astype(np.float64) - pc2[0].astype(np.float64)) + abs(pc1[1].astype(np.float64) - pc2[1].astype(np.float64)) + abs(pc1[2].astype(np.float64) - pc2[2].astype(np.float64))).astype(np.float64)
# elif(mod_type == 'x'):
# # print('x')
# dist = (abs(pc1[0].astype(np.float64) - pc2[0].astype(np.float64))).astype(np.float64)
# elif(mod_type == 'y'):
# # print('y')
# dist = (abs(pc1[1].astype(np.float64) - pc2[1].astype(np.float64))).astype(np.float64)
# elif(mod_type == 'z'):
# # print('z')
# dist = (abs(pc1[2].astype(np.float64) - pc2[2].astype(np.float64))).astype(np.float64)
# elif(mod_type == 'xy'):
# # print('xy')
# dist = (abs(pc1[0].astype(np.float64) - pc2[0].astype(np.float64)) + abs(pc1[1].astype(np.float64) - pc2[1].astype(np.float64))).astype(np.float64)
# elif(mod_type == 'yz'):
# # print('zy')
# dist = (abs(pc1[2].astype(np.float64) - pc2[2].astype(np.float64)) + abs(pc1[1].astype(np.float64) - pc2[1].astype(np.float64))).astype(np.float64)
# elif(mod_type == 'xz'):
# # print('xz')
# dist = (abs(pc1[0].astype(np.float64) - pc2[0].astype(np.float64)) + abs(pc1[2].astype(np.float64) - pc2[2].astype(np.float64))).astype(np.float64)
# else:
# print("bokka")
# print('dist', dist)
# print('****************')
# print(dist)
# return(dist)
if __name__ == '__main__':
# 1. encode the point cloud and extract the codebook
pc_input = pc_test
print('point cloud shape and values', pc_input.shape, pc_input)
delta = 1
pc_output_dither = qim_encode_dither(pc_input, delta)
print('dither: output point cloud shape and values', pc_output_dither.shape, pc_output_dither)
pc_output_old = qim_encode_old(pc_input, delta)
print('old: output point cloud shape and values', pc_output_old.shape, pc_output_old)
decode = qim_decode_dither(pc_output_dither, delta)
print('decoded message', decode)