CN111435991B - Point cloud code stream packaging method and system based on grouping - Google Patents
Point cloud code stream packaging method and system based on grouping Download PDFInfo
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- CN111435991B CN111435991B CN201910027716.3A CN201910027716A CN111435991B CN 111435991 B CN111435991 B CN 111435991B CN 201910027716 A CN201910027716 A CN 201910027716A CN 111435991 B CN111435991 B CN 111435991B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/42—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/44—Decoders specially adapted therefor, e.g. video decoders which are asymmetric with respect to the encoder
Abstract
The invention provides a point cloud code stream packaging method and system based on grouping, which are used for grouping video streams according to different attributes to obtain at least one video stream track group, wherein the video stream track group comprises video streams describing the same point cloud content, and the point cloud content in the same video stream track group can be mutually replaced to finish decoding. The invention enables the point cloud code stream after one package is finished to be subjected to different decoding combinations and meets the requirements of different decoding ends; under the condition that the decoding condition of a decoding end is poor, selecting a lower-quality video code stream track for decoding based on the same point cloud content, and ensuring smooth presentation of a video during decoding; and realizing personalized decoding presentation at a decoding end, for example, replacing texture information of the point cloud under the condition of unchanged geometric structure.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a point cloud code stream packaging method and system based on grouping.
Background
In recent decades, three-dimensional scanning technology and systems have become mature, the manufacturing cost of 3D scanners is reduced, the precision is higher and higher, the applications are wider and wider, and three-dimensional coordinate information of the surfaces of actual objects can be rapidly and accurately acquired and stored, so that point cloud data can be widely applied to the related fields of image processing in scientific research and industry.
The point cloud data is data information of three-dimensional coordinates of the object after three-dimensional scanning, and information such as RGB (red, green, blue), depth and the like can be recorded. With the improvement of the precision and the speed of a three-dimensional scanning system, the amount of scanned point cloud data reaches the order of magnitude of millions or even more, and at present, the massive point cloud data increases heavy burden for computer storage, processing and transmission.
Point cloud compression algorithms have been studied more systematically, and a typical compression scheme for dynamic point clouds is to convert 3D point cloud data into 2D pictures for processing by mapping. The scheme enables the point cloud to be compressed and transmitted through a video processing means, but the converted code stream is divided into a geometric information video stream, a texture information video stream, a placeholder map video stream, an auxiliary information stream and the like. The geometric information records the spatial position of the point cloud, and is most important, and meanwhile, decoding can be realized by means of the occupation bitmap and the auxiliary information, and texture information can be decoded after the geometric information is decoded and also needs to be decoded by means of the occupation bitmap. The three video streams are generally packaged together based on the same precision and a coder-decoder, and only one presentation effect exists, and the packaging mode does not consider the diversity of decoding-end equipment, the complexity of network conditions and the personalized requirements of consumers in use. How to design a packaging structure aiming at code stream information after dynamic point cloud compression to enable the code stream information to be suitable for various requirements of a decoding end is a key problem to be solved urgently.
The prior art related to the present application is the patent document CN107454428, which discloses a method for packetizing, encoding and decoding video data, comprising the following steps: receiving video data information in real time, inserting a first label into the data information at regular intervals, and enabling video data between every two first labels to form a data segment; extracting a timestamp of each video frame; inserting a second tag in front of a portion of the particular video frame; h.264 compressing the video frame with the second label; when decoding, the video frame with the second label in the background image and each video frame of the motion image are decoded and combined into data segments, and then the data segments are combined in sequence corresponding to the first label to form the complete video output.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a point cloud code stream packaging method and system based on grouping.
According to the point cloud code stream packaging method based on grouping provided by the invention, video streams are grouped according to different attributes to obtain at least one video stream track group, wherein one video stream track group comprises video streams describing the same point cloud content, and the point cloud contents in the same video stream track group can be mutually replaced to finish decoding.
Preferably, the different attributes include, but are not limited to, any one or any plurality of video rate, video resolution, video QP value, codec type, point cloud texture.
Preferably, the video category of the video stream includes any one or more of a geometric information video stream, a texture information video stream, and a placeholder video stream.
Preferably, the geometric information video stream can describe geometric information of the point cloud content; the texture information video stream can describe the texture information of the point cloud content; the placeholder map video stream can describe placeholder map information of the point cloud content.
Preferably, the video stream track packets are numbered, and the numbering is a unique valid identification code capable of being used as one video stream track packet.
Preferably, the packets can group video stream tracks expressing the same point cloud content, different attributes into one video stream track packet.
Preferably, the grouping is capable of grouping a plurality of video stream tracks expressing the same point cloud content, the same video category into one video stream track grouping.
Preferably, the grouping can classify video stream tracks with the same geometric information and different texture information based on the point cloud content into one video stream track group.
According to the point cloud code stream packaging system based on the grouping, the video stream tracks of the same type are grouped according to different attributes to obtain at least one video stream track group, the video stream track group comprises the video stream tracks describing the same point cloud content, and the point cloud content in the same video stream track group can be mutually replaced to finish decoding.
Preferably, the system for packaging the group-based point cloud code stream comprises an implementation step of implementing the method for packaging the group-based point cloud code stream.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention enables the point cloud code stream after one package is finished to be subjected to different decoding combinations and meets the requirements of different decoding ends;
2. the invention can select the video code stream track with lower quality to decode based on the same point cloud content under the condition of poor decoding condition of a decoding end, thereby ensuring the flow presentation of the video during decoding;
3. the invention can realize individualized decoding presentation at the decoding end, such as changing texture information under the condition of unchanging geometric structure.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of moov box of a packetized video stream track when using an associated encapsulation structure of ISOBMFF in the present invention;
FIG. 2 is a diagram illustrating the effect of the present invention on the presentation of video streams with the same geometric information and different texture information.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention aims to provide a grouping-based point cloud code stream packaging method, which is designed to be suitable for a consumption process and is used for an application scene when point clouds are presented at a decoding end. Aiming at three kinds of video stream information and decoding processes of the point cloud, different groups are respectively set for a geometric information video stream, a texture information video stream and a placeholder image video stream, and the point cloud is optimized to be presented at a decoding end.
According to the point cloud code stream packaging method based on grouping provided by the invention, video stream tracks are grouped according to different attributes to obtain at least one video stream track group, wherein one video stream track group comprises video streams describing the same point cloud content, and the point cloud contents in the same video stream track group can be mutually replaced to finish decoding.
In particular, the different attributes include, but are not limited to, any one or any plurality of video rate, video resolution, video QP value, codec type, point cloud texture.
Specifically, the video category of the video stream includes any one or more of a geometric information video stream, a texture information video stream, and a placeholder video stream.
Specifically, the geometric information video stream can describe geometric information of point cloud content; the texture information video stream can describe the texture information of the point cloud content; the placeholder map video stream can describe placeholder map information of the point cloud content.
Specifically, the video stream track packets are numbered, and the numbering is a unique effective identification code capable of being used as one video stream track packet.
In particular, the packet can group video stream tracks expressing the same point cloud content, different attributes into one video stream track packet.
In particular, the packet can group a plurality of video stream tracks expressing the same point cloud content, the same video category into one video stream track packet.
Specifically, the grouping can classify video stream tracks having the same geometric information and different texture information based on point cloud content into one video stream track group.
According to the point cloud code stream packaging system based on grouping provided by the invention, video streams are grouped according to different attributes to obtain at least one video stream track group, wherein the video stream track group comprises video streams describing the same point cloud content, and the point cloud contents in the same video stream track group can be mutually replaced to finish decoding.
Specifically, the system for packaging the point cloud code stream based on the grouping comprises an implementation step of realizing the method for packaging the point cloud code stream based on the grouping.
In specific implementation, according to the complexity of the decoding end, for example, network bandwidth, device performance, delay condition, user requirement, codec type, and the like, the replaceable video stream tracks are grouped in advance, so as to adapt to the presentation of different decoding ends. Grouping, namely grouping according to different attributes of the video stream tracktrack, including but not limited to, a code rate, a resolution, a qp (quantization parameter) value, a codec type, a texture, and the like, and grouping the video stream tracktracks that can be replaced with each other, for example, two tracktracks that only have different codec types, into the same group, so that under various conditions, suitable video streams can be selected to be combined for decoding, and a satisfactory point cloud presentation experience is provided for a user. The video stream tracks of the three types of geometric information, texture information and the placeholder map are grouped according to different attributes, the video stream tracks in each group should be the same type of video stream describing the same point cloud content, namely, the video stream tracks in the same group should be the geometric information/texture information/placeholder map, and the video stream tracks in the same group should be mutually replaceable.
Specifically, the properties of grouping depend on a variety of factors, such as code rate: the number of data bits transmitted per unit time during data transmission is generally proportional to the video quality; when the network bandwidth is limited, a video stream track with a lower code rate can be selected to realize smooth playing; resolution ratio: the number of pixel points contained in a unit inch in the video; when the network bandwidth is limited, a video stream track with lower resolution can be selected to realize smooth playing; QP value: corresponding to the quantization step length during coding, the larger the value of the quantization step length is, the smaller the code stream volume is, and the worse the video quality is; when the network bandwidth is limited, a video stream track with a larger QP value can be selected to realize smooth playing; codec type: MPEG-4, AVC, HEVC, AVS, etc., different decoding ends may have different codecs, and a video stream track based on the corresponding codec can be selected to be decoded normally; texture: different users may have individualized requirements for replacing point cloud textures under the condition of unchanged geometric structure; different texture video stream tracks may be selected to achieve personalized presentation. When the point cloud code stream is packaged, the three types of video stream tracks are grouped according to different attributes, and the video stream tracks in the same group can be replaced with each other to finish decoding, so that the point cloud code stream after being packaged can be subjected to different decoding combinations, and the requirements of different decoding ends can be better met. Particularly, when the network condition of a decoding end is poor, a video code stream track with lower quality can be selected for decoding or a geometric video code stream with higher quality can be selected based on the same point cloud content, and the smooth presentation during decoding is guaranteed by sacrificing the precision of textures; or the texture information is replaced under the condition that the geometric structure of the user is unchanged, so that personalized presentation is realized. The above two typical requirement scenarios can be correspondingly expanded if other requirements exist, and also belong to the scope of the invention.
In the code stream obtained by the dynamic point cloud compression scheme based on the 2D processing mode, three video streams are generally uniformly packaged based on the same precision and a coder-decoder, and only one presentation effect is provided, and the packaging mode does not consider the diversity of decoding end equipment, the complexity of network conditions and the personalized requirements of consumers during use. This leads to a problem: because the conditions of the decoding end are different, if a certain point cloud content only has one matched video stream to be selected, when the point cloud content is presented at the decoding end, only one decoding device or presentation requirement can be met, and the limitation is great. People are further upgrading the consumption of media nowadays, and point clouds are indispensable as an important representation form of immersive media. In the fields of automatic driving, security monitoring and the like, cloud presentation is also needed to optimize the solution. In order to enable the point cloud based on the 2D processing mode to be better presented under the condition of various decoding ends, the invention provides a point cloud code stream packaging method based on grouping, which groups information according to corresponding attributes, so that different video stream tracks can be selected during decoding, and personalized presentation and better user experience of the decoding ends are supported.
In particular, when the associated encapsulation structure of the ISOBMFF is applied, the present invention is implemented as follows, video stream tracks such as geometric information, occupation maps, texture information, etc. for describing the same point cloud content are divided into different groups based on different attributes (including but not limited to code rate, resolution, QP value, codec type, texture, etc.). And the groups are numbered, if the group numbers of the two video stream tracks are the same, the two video stream tracks can be mutually replaced during decoding, thereby being suitable for various decoding end conditions and requirements.
In order to solve the above problem, a Box named "tkhd" (Track Header Box) is set at the Header of each video stream Track, and the characteristics of the Track are described in the Box, including the packet information. "tkhd" can be variously, preferably implemented by the following set of information as an example.
Wherein version is an integer specifying the version of the box (0 or 1 in this specification);
flags is a 24-bit integer as a flag; the following values are defined: track _ enabled: indicating that the track is enabled. The flag value is 0x 000001. If the track is disabled, (the lowest bit is 0) then the track is considered to be absent. Track _ in _ movie: indicating that the track is used in the presentation. The flag value is 0x 000002. Track _ in _ preview: indicating that the track is used at preview time. The flag value is 0x 000004;
creation time is an integer to declare the creation time of this track (UTC time in seconds from 1/1904);
modification _ time is an integer used to declare the time (UTC time in seconds from 1/1904) when the track was last modified;
track _ ID is an integer that uniquely identifies the track throughout the life cycle of the point cloud content presentation. the track _ ID is never reused, nor can it be zero;
duration is an integer representing the duration of this track;
layer specifies the front and back ordering of the video track; the track with the smaller number is closer to the viewer. 0 is the norm, -1 will precede track0, and so on;
alternate _ group is an integer that specifies a set of tracks. If this field is 0, there is no association with other tracks. If this field is not 0, then the same track of this field value should be interchangeable. And different sets of tracks, the value of this field being the same. Note that only one track in a packet should be played or streamed at any time.
It should be noted that the packet characteristics are described only by taking the above fields as examples in the present invention, and are not limited to the above fields and the sizes thereof. For convenience of description, the following embodiments are described with reference to the above-mentioned group of indication information, but in other embodiments, other grouping bases may be possible.
In order to more clearly illustrate the packet-based point cloud code stream encapsulation method proposed in the present invention, the following contents provide a specific application example of the present invention.
In the case of ISOBMFF, a typical grouping approach is: the various types of video stream tracks are grouped according to the QP value at the time of encoding. For example, for a geometric information video stream track of a certain gof (group of frames) point cloud content, its definition also differs because QP value is different during encoding, but the same part of point cloud content is represented. We can divide these geometric information video stream tracks that describe the same point cloud content but with different QP values into the same group, i.e. can replace each other. The texture information video stream and the placeholder map video stream work the same.
Specifically, a plurality of video streams of the same type expressing the same point cloud content may be grouped into the same group, and these video streams of the same group may be mutually standby and freely selected. Taking the geometric information video stream track as an example, assuming the geometric video stream track describing a certain GOF, the geometric information video stream track can be divided into three tracks according to different QP values. The alter _ group fields of these several tracks need to be the same value. Therefore, when the network condition of the decoding end is unstable or the equipment performance is poor, the track with a large QP value can be selected for decoding, so that the decoding of the content with low precision is realized, the pressure of the decoding end is relieved, and the smooth point cloud presentation is realized; when the network conditions of the decoding end are stable and the equipment performance is good, the track with a small QP value can be selected for decoding, so that the decoding of high-precision content is realized, and the high-quality point cloud presentation is realized.
Another typical grouping method is: the texture information video stream tracks are grouped according to different textures. For example, for a texture information video stream track of a certain GOF point cloud content, the texture information can be modified without changing the geometric information thereof, and different scenes (for example, winter and summer scenes of the same building) can be presented. We can divide these texture information video stream tracks based on the same geometric information but with different expression contents into the same group, i.e. can replace each other.
Specifically, it is assumed that a texture information video stream track of a certain GOF can be divided into four tracks according to texture content. The alter _ group fields of these several tracks need to be the same value. Therefore, when the user has different texture content requirements of the same geometric object, the user can freely select from the several tracks to realize personalized point cloud presentation.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (6)
1. A point cloud code stream packaging method based on grouping is characterized in that video streams are grouped according to different attributes to obtain at least one video stream track grouping, wherein the video stream track grouping comprises video streams describing the same point cloud content, and the video stream tracks in the same video stream track grouping can be mutually replaced to finish decoding;
the different attributes comprise any one or more of video code rate, video resolution, video QP value, codec type and point cloud texture;
the video types of the video streams comprise any one or more types of geometric information video streams, texture information video streams and placeholder image video streams;
the point cloud code stream packaging method based on grouping specifically groups replaceable video stream tracks in advance according to the complex situation of a decoding end, and further adapts to the presentation of different decoding ends; dividing the video stream tracks which can be replaced mutually into a same group only by two tracks with different codec types; the video stream tracks of the three types of geometric information, texture information and the placeholder map are grouped according to different attributes, the video stream tracks in each group should be the same type of video stream describing the same point cloud content, namely the video stream tracks are the geometric information, the texture information or the placeholder map, and the video stream tracks in the same group can be replaced with each other.
2. The packet-based point cloud code stream encapsulation method according to claim 1,
when the point cloud code stream packaging method based on grouping applies the related packaging structure of the ISOBMFF, the geometric information, the occupation bitmap and the texture information video stream track for describing the same point cloud content are divided into different groups based on different attributes; these groups are numbered, and if the group numbers to which the two video stream tracks belong are the same, the two video stream tracks can be replaced with each other at the time of decoding.
3. The packet-based point cloud code stream encapsulation method according to claim 1,
the point cloud code stream packaging method based on grouping sets a Box named as 'tkhd' (Track Header Box) at the head of each video stream Track, and describes the characteristics of the Track in the Box, wherein the characteristics comprise grouping information.
4. The packet-based point cloud code stream encapsulation method according to claim 1, wherein the geometric information video stream track can describe geometric information of point cloud content;
the texture information video stream track can describe the texture information of the point cloud content;
the placeholder video stream track can describe placeholder information of the point cloud content.
5. The method of claim 1, wherein the video stream track packets are numbered, and the numbering is a unique valid identification code that can be used as a video stream track packet.
6. A point cloud code stream packaging system based on grouping is characterized by comprising:
the device comprises a video stream track grouping device, a video stream decoding device and a video stream grouping device, wherein the video stream track grouping device is used for grouping video stream tracks according to different attributes to obtain at least one video stream track grouping, the video stream track grouping comprises the same type of video stream tracks describing the same point cloud content, and the point cloud content in the same video stream track grouping can be mutually replaced to finish decoding;
the different attributes comprise any one or more of video code rate, video resolution, video QP value, codec type and point cloud texture;
the video types of the video streams comprise any one or more types of geometric information video streams, texture information video streams and placeholder image video streams;
specifically, according to the complex situation of a decoding end, replaceable video stream tracks are grouped in advance so as to adapt to the presentation of different decoding ends; dividing the video stream tracks which can be replaced mutually into a same group only by two tracks with different codec types; the video stream tracks of the three types of geometric information, texture information and the placeholder map are grouped according to different attributes, the video stream tracks in each group should be the same type of video stream describing the same point cloud content, namely the video stream tracks are the geometric information, the texture information or the placeholder map, and the video stream tracks in the same group can be replaced with each other.
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| CN116248642A (en) * | 2020-10-14 | 2023-06-09 | 腾讯科技（深圳）有限公司 | Media file encapsulation method, media file decapsulation method and related equipment |
| US20240070958A1 (en) * | 2021-01-05 | 2024-02-29 | Telefonaktiebolaget Lm Ericsson (Publ) | 3d stream processing |
| CN115150384B (en) * | 2021-03-31 | 2023-08-18 | 腾讯科技（深圳）有限公司 | Point cloud encoding and decoding method and device, computer readable medium and electronic equipment |
| CN113395602B (en) * | 2021-06-25 | 2022-03-22 | 合肥工业大学 | Modeling method for user experience quality QoE in adaptive point cloud video streaming media |
| CN115914651A (en) * | 2021-08-25 | 2023-04-04 | 腾讯科技（深圳）有限公司 | Point cloud coding and decoding method, device, equipment and storage medium |
| CN116233468A (en) * | 2021-12-06 | 2023-06-06 | 腾讯科技（深圳）有限公司 | Point cloud decoding method, point cloud encoding method, device, equipment, medium and product |
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