Add hausdorff metric

Signed-off-by: aapozd <[email protected]>

open_pcc_metric/metric.py

@@ -46,6 +46,39 @@ def __init__(
             n=0,
         )
 
+    @staticmethod
+    def scale_rgb(cloud: o3d.geometry.PointCloud):
+        scaled_colors = np.apply_along_axis(
+            func1d=lambda c: 255 * c,
+            axis=1,
+            arr=cloud.colors
+        )
+        cloud.colors = o3d.utility.Vector3dVector(scaled_colors)
+
+    @staticmethod
+    def convert_cloud_to_yuv(cloud: o3d.geometry.PointCloud):
+        """Helper function to convert RGB to YUV (BT.709 or YCoCg-R)
+        """
+        # only rgb supported
+        transform = np.array([
+            [0.25, 0.5, 0.25],
+            [1, 0, -1],
+            [-0.5, 1, -0.5]
+        ])
+        def converter(c: np.ndarray) -> np.ndarray:
+            yuv_c = np.matmul(transform, c)
+            # offset 2^8 Co and Cg
+            yuv_c[1] += 256
+            yuv_c[2] += 256
+            return yuv_c
+
+        converted_colors = np.apply_along_axis(
+            func1d=converter,
+            axis=1,
+            arr=cloud.colors
+        )
+        cloud.colors = o3d.utility.Vector3dVector(converted_colors)
+
     @staticmethod
     def get_neighbour(
         point: np.ndarray,
@@ -84,7 +117,7 @@ class PrimaryMetric(AbstractMetric):
     def calculate(self, cloud_pair: CloudPair):
         raise NotImplementedError("calculate is not implmented")
 
-class OrderedMetric(PrimaryMetric):
+class DirectionalMetric(PrimaryMetric):
     is_left: bool
 
     def __init__(self, is_left: bool):
@@ -141,7 +174,7 @@ def calculate(self, metrics: typing.List[AbstractMetric]) -> bool:
         self.value = boundary_metric.value[1]
         return True
 
-class GeoMSE(OrderedMetric):
+class GeoMSE(DirectionalMetric):
     label = "GeoMSE"
 
     def calculate(self, cloud_pair: CloudPair):
@@ -153,7 +186,7 @@ def calculate(self, cloud_pair: CloudPair):
         n = cloud_pair._origin_neigh_dists.shape[0]
         self.value = sse / n
 
-class GeoPSNR(SecondaryMetric, OrderedMetric):
+class GeoPSNR(SecondaryMetric, DirectionalMetric):
     label = "GeoPSNR"
 
     def calculate(self, metrics: typing.List[AbstractMetric]) -> bool:
@@ -170,7 +203,7 @@ def calculate(self, metrics: typing.List[AbstractMetric]) -> bool:
         self.value = 10 * np.log10(max_neigh_dist**2 / geo_mse.value)
         return True
 
-class ColorPSNR(SecondaryMetric, OrderedMetric):
+class ColorPSNR(SecondaryMetric, DirectionalMetric):
     label = "ColorPSNR"
 
     def calculate(self, metrics: typing.List[AbstractMetric]) -> bool:
@@ -182,7 +215,7 @@ def calculate(self, metrics: typing.List[AbstractMetric]) -> bool:
         self.value = 10 * np.log10(peak**2 / geo_mse.value)
         return True
 
-class ColorMSE(OrderedMetric):
+class ColorMSE(DirectionalMetric):
     label = "ColorMSE"
 
     def calculate(self, cloud_pair: CloudPair):
@@ -193,6 +226,27 @@ def calculate(self, cloud_pair: CloudPair):
             diff = np.subtract(cloud_pair.reconst_cloud.colors, cloud_pair._reconst_neigh_cloud.colors)
         self.value = np.mean(diff**2, axis=0)
 
+class GeoHausdorffDistance(DirectionalMetric):
+    label = "GeoHausdorfDistance"
+
+    def calculate(self, cloud_pair: CloudPair):
+        if self.is_left:
+            self.value = np.max(cloud_pair._origin_neigh_dists, axis=0)
+        else:
+            self.value = np.max(cloud_pair._reconst_neigh_dists, axis=0)
+
+class ColorHausdorffDistance(DirectionalMetric):
+    label = "ColorHausdorffDistance"
+
+    def calculate(self, cloud_pair: CloudPair):
+        diff = None
+        if self.is_left:
+            diff = np.subtract(cloud_pair.origin_cloud.colors, cloud_pair._origin_neigh_cloud.colors)
+        else:
+            diff = np.subtract(cloud_pair.reconst_cloud.colors, cloud_pair._reconst_neigh_cloud.colors)
+        rgb_scale = 255
+        self.value = np.max((rgb_scale * diff)**2, axis=0)
+
 class SymmetricMetric(SecondaryMetric):
     is_proportional: bool
     target_label: str
@@ -267,6 +321,10 @@ def calculate_from_files(
         GeoMSE(is_left=False),
         ColorMSE(is_left=True),
         ColorMSE(is_left=False),
+        GeoHausdorffDistance(is_left=True),
+        GeoHausdorffDistance(is_left=False),
+        ColorHausdorffDistance(is_left=True),
+        ColorHausdorffDistance(is_left=False),
     ]
     secondary_metrics = [
         MinSqrtDistance(),