WO2020063718A1 - 点云编解码方法和编解码器 - Google Patents

点云编解码方法和编解码器 Download PDF

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Publication number
WO2020063718A1
WO2020063718A1 PCT/CN2019/108047 CN2019108047W WO2020063718A1 WO 2020063718 A1 WO2020063718 A1 WO 2020063718A1 CN 2019108047 W CN2019108047 W CN 2019108047W WO 2020063718 A1 WO2020063718 A1 WO 2020063718A1
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Prior art keywords
pixel block
processed
boundary pixel
point cloud
boundary
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PCT/CN2019/108047
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English (en)
French (fr)
Inventor
张德军
王田
扎克哈成科弗莱德斯拉夫
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华为技术有限公司
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Publication of WO2020063718A1 publication Critical patent/WO2020063718A1/zh

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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
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
    • H04N19/176—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a block, e.g. a macroblock
    • 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
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • H04N19/182—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being a pixel
    • 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
    • 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
    • H04N19/85—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression

Definitions

  • the present application relates to the field of codec technology, and in particular, to a point cloud codec method and a codec.
  • the embodiments of the present application provide a point cloud encoding and decoding method and a codec, which are helpful to improve encoding and decoding performance.
  • a point cloud decoding method including: setting a value of a pixel at a target preset position in a to-be-processed boundary pixel block in a filled occupancy map of a point cloud to be decoded to obtain a warp Zero pixel block; reconstruct the point cloud to be decoded according to the processed occupancy map, and the processed occupancy map includes the zeroed pixel block.
  • the "decoding" in the first aspect or any possible design of the first aspect can be replaced with encoding.
  • the execution body can be an encoder, and the point cloud to be decoded can be Coding point cloud.
  • “decoding” may be replaced with decoding.
  • the execution body may be a decoder, and the point cloud to be decoded may be a point cloud to be decoded.
  • the point cloud decoding method in this embodiment of the present application is a point cloud encoding method.
  • the execution subject may be an encoder, and the point cloud to be decoded may be a point cloud to be encoded.
  • the point cloud decoding method in the embodiment of the present application is a point cloud decoding method.
  • the execution body may be a decoder, and the point cloud to be decoded may be a point cloud to be decoded.
  • the filled occupancy map of the point cloud to be decoded is specifically the filled occupancy map of the point cloud to be decoded.
  • the occupancy map of the point cloud to be decoded received by the decoder is a filled occupancy map obtained by the encoder after filling the occupancy map of the point cloud to be encoded, that is, the occupancy map of the point cloud to be decoded received by the decoder The figure is the filled occupancy map of the point cloud to be decoded.
  • the target preset position is a position in the boundary pixel block to be processed, and the distance between the target valid pixel and the invalid pixel is greater than or equal to a preset threshold; or, the target preset position is the pending process.
  • the position of the invalid pixel in the boundary pixel block and the distance from the line where the target effective pixel is located is greater than or equal to a preset threshold.
  • the straight line where the target effective pixel is located is related to the type of the boundary pixel block to be processed. For specific examples, refer to the following. Among them, the target effective pixel refers to the pixel most likely to be an effective pixel estimated by the decoder.
  • An invalid pixel is a pixel with a pixel value of 0 before padding in the boundary pixel block to be processed.
  • a valid pixel refers to a pixel with a pixel value of 1 before padding in the boundary pixel block to be processed. It should be noted that the straight line where the target effective pixel is described in the embodiment of the present application may be replaced with the line where the target effective pixel is located.
  • the value of the pixel at the target preset position in the pending boundary pixel block in the filled occupancy map of the point cloud to be decoded is set to zero, and the to-be-decoded image is reconstructed according to the processed occupancy map.
  • the processed occupancy map includes zeroed pixel blocks.
  • the point cloud decoding method performs filtering (or smoothing) of the filled occupancy map of the point cloud to be decoded before reconstructing the point cloud to be decoded. In this way, by reasonably setting the target preset position, it is helpful to zero the invalid pixels with a pixel value of 1 in the filled occupancy map.
  • There are fewer outlier points in the reconstructed point cloud of this technical solution so it helps to improve the performance of encoding and decoding.
  • setting the value of the pixel at the target preset position in the to-be-processed boundary pixel block in the filled occupancy map of the point cloud to be decoded to obtain a zero-set pixel block includes: determining The type of the boundary pixel block to be processed in the filled occupancy map of the point cloud to be decoded; according to the type of the boundary pixel block to be processed, the corresponding target processing method is used to set the pixel at the target preset position in the boundary pixel block to be processed. Set the value to zero to get the zeroed pixel block.
  • determining the type of boundary pixel blocks to be processed in the occupancy map of the point cloud to be decoded includes: based on whether the spatially adjacent pixel blocks of the boundary pixel blocks to be processed are invalid pixel blocks, and estimating the to-be-processed Orientation information of invalid pixels in the boundary pixel block in the boundary pixel block to be processed; or, based on whether the spatially adjacent pixel blocks of the pixel block before filling in the boundary pixel block to be processed are invalid pixel blocks, the boundary pixel block to be processed is estimated The position information of the invalid pixels in the boundary pixel block to be processed. Different types of boundary pixel blocks correspond to different orientation information of invalid pixels in the boundary pixel blocks.
  • the invalid pixel block refers to a pixel block in which the values of the contained pixels are all 0.
  • a valid pixel block is a pixel block having a value of 1 for at least one pixel.
  • the effective pixel block includes a boundary pixel block and a non-boundary pixel block.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include those adjacent to the pixel block and located directly above, directly below, directly to the left, directly to the right, to the left, to the left, to the right, and to the right One or more pixel blocks below.
  • the corresponding target processing method is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel block. Including: determining the processing method corresponding to the type of the boundary pixel block to be processed according to the mapping relationship between the multiple types of the boundary pixel block and the multiple processing methods; if the type of the boundary pixel block to be processed corresponds to one processing method, The processing method corresponding to the type of the boundary pixel block to be processed is taken as the target processing method; or, if the type of the boundary pixel block to be processed corresponds to multiple processing methods, one of the multiple processing methods corresponding to the type of the boundary pixel block to be processed is used.
  • This processing method is used as the target processing method; the target processing method is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel block.
  • the mapping relationship in this possible design may be predefined.
  • the corresponding target processing method is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel block.
  • the method includes: looking up a table according to the type of the boundary pixel block to be processed to obtain a processing method corresponding to the type of the boundary pixel block to be processed.
  • the table includes mapping relationships between multiple types of the boundary pixel block and multiple processing methods.
  • the type of the boundary pixel block corresponds to a processing method, and the processing method corresponding to the type of the boundary pixel block to be processed is taken as the target processing method; or, if the type of the boundary pixel block to be processed corresponds to multiple processing methods, the boundary to be processed is One of the multiple processing methods corresponding to the type of pixel block is used as the target processing method; the target processing method is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel Piece.
  • the point cloud to be decoded is a point cloud to be encoded
  • the types of boundary pixel blocks to be processed correspond to multiple processing methods
  • the method further includes: coding the identification information into a code stream, and the identification information indicates that the processing is to be processed.
  • the target processing method of the boundary pixel block One type corresponds to multiple technical solutions, and the processing methods are diversified, which helps to improve the encoding and decoding efficiency.
  • the identification information may specifically be an index of a target processing method.
  • the identification information is frame-level information.
  • the point cloud to be decoded is a point cloud to be encoded. If the type of the boundary pixel block to be processed corresponds to multiple processing methods, the type of the boundary pixel block to be processed corresponds to one of the multiple processing methods.
  • This processing method as the target processing method includes: selecting one of a plurality of processing methods corresponding to the type of the boundary pixel block to be processed according to the position of the pixel whose pixel value is 0 in the pixel block before being filled in the boundary pixel block to be processed. This processing method is the target processing method. In this way, it helps to make fewer outlier points in the reconstructed point cloud, thereby improving the encoding and decoding efficiency.
  • the point cloud to be decoded is the point cloud to be decoded. If the type of the boundary pixel block to be processed corresponds to multiple processing methods, the corresponding target processing method will be used according to the type of the boundary pixel block to be processed. Processing the value of the pixel at the target preset position in the boundary pixel block to obtain a zeroed pixel block, including: parsing the code stream according to the type of the boundary pixel block to be processed to obtain identification information; the identification information is used for Represents the target processing mode; the target processing mode is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel block.
  • the spatially adjacent pixel block of the preset orientation of the boundary pixel block to be processed is an invalid pixel block, it is estimated to obtain a prediction of the invalid pixels in the boundary pixel block to be processed in the boundary pixel block to be processed.
  • the spatially adjacent pixel block of the preset orientation of the pixel block before filling in the pixel block to be processed is an invalid pixel block, it is estimated that the invalid pixels in the pixel block to be processed are to be processed.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include: adjacent to the boundary pixel block to be processed and located directly above, directly below, directly to the left and right of the boundary pixel block to be processed Pixel blocks.
  • adjacent to the boundary pixel block to be processed and located directly above, directly below, directly to the left and right of the boundary pixel block to be processed Pixel blocks In this case:
  • the invalid pixels in the boundary pixel block to be processed are in the boundary pixel block to be processed.
  • the orientation information in is: the invalid pixels in the boundary pixel block to be processed are located in a preset direction in the boundary pixel block to be processed; the preset direction includes one or more of directly above, directly below, directly left, and right A combination of the two.
  • the The orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the upper right of the boundary pixel block to be processed.
  • the The orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the lower left of the boundary pixel block to be processed.
  • the The orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the upper left of the boundary pixel block to be processed.
  • the The orientation information of the invalid pixel in the to-be-processed boundary pixel block is: the invalid pixel in the to-be-processed boundary pixel block is located at the lower right of the to-be-processed boundary pixel block.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include pixels adjacent to the boundary pixel block to be processed and located at the upper left, upper right, lower left, and lower right of the boundary pixel block to be processed.
  • Piece if the spatially adjacent pixel block in the preset direction of the boundary pixel block to be processed is an invalid pixel block, and the other adjacent pixels in the spatial domain are all valid pixel blocks, the invalid pixels in the boundary pixel block to be processed are pending.
  • the orientation information in the processing boundary pixel block is: the invalid pixels in the processing boundary pixel block are located in a preset direction in the processing boundary pixel block; the preset direction includes one of upper left, upper right, lower left, and lower right or At least two.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include: adjacent to the boundary pixel block to be processed and located directly above, directly below, directly to the left, and to the right of the boundary pixel block to be processed Square, top left, top right, bottom left, and bottom right pixel blocks.
  • the orientation information is: The invalid pixels are located in a preset direction in the boundary pixel block to be processed; the preset directions include upper left, upper right, lower left, or lower right.
  • the boundary pixel block to be processed is a basic filling unit for performing filling of the occupancy map of the point cloud to be decoded.
  • the outlier points are included in the reconstructed point cloud due to padding. Therefore, using the basic filling unit as the basic unit of the boundary pixel block to be processed can help reduce the outlier points in the reconstructed point cloud, thereby helping to improve encoding and decoding. performance.
  • the boundary pixel block to be processed is a boundary pixel block of a filled occupancy map of the point cloud to be decoded; or, the boundary pixel block to be processed is a patch of a filled occupancy map of the point cloud to be decoded.
  • the bounding pixel block of the occupation map is a boundary pixel block of a filled occupancy map of the point cloud to be decoded.
  • a point cloud decoding method including: performing an erosion operation on pixel values in a filled occupancy map of a point cloud to be decoded to obtain an eroded occupancy map. According to the corroded occupancy map, the point cloud to be decoded is reconstructed. According to this technical solution, the pixel values in the filled occupancy map of the point cloud to be decoded are etched by the corrosion operation, thereby reconstructing the point cloud to be decoded. In this way, compared with the scheme of directly reconstructing the point cloud to be decoded by using the filled occupancy map directly, the technical solution has fewer outlier points in the reconstructed point cloud, and therefore helps to improve the performance of encoding and decoding.
  • the basic corrosion unit of the corrosion operation is less than or equal to the basic filling unit for performing the filling operation on the point cloud occupancy map to be decoded.
  • the basic erosion unit may be one pixel.
  • a point cloud encoding method including: determining instruction information for indicating whether to process an occupation map of an encoded point cloud according to a target encoding method; the target encoding method includes the first aspect or Any point cloud decoding method provided by the second aspect (specifically, a point cloud encoding method); the instruction information is coded into a code stream.
  • a point cloud decoding method including: parsing a bitstream to obtain indication information, the indication information is used to indicate whether to process an occupancy map of a decoded point cloud according to a target decoding method; the target decoding method includes the foregoing Any point cloud decoding method provided by the first aspect or the second aspect (specifically, a point cloud decoding method); when the instruction information is used to indicate that the occupancy map of the point cloud to be decoded is processed according to the target decoding method, the target cloud is processed according to the target The decoding method processes the occupancy map of the decoded point cloud.
  • a decoder including: an occupancy map filtering module, configured to set a value of a pixel at a target preset position in a boundary pixel block to be processed in a filled occupancy map of a point cloud to be decoded. Zero to obtain the zeroed pixel block; a point cloud reconstruction module is used to reconstruct the point cloud to be decoded according to the processed occupancy map, and the processed occupancy map includes the zeroed pixel block.
  • a decoder including: an occupancy map filtering module, configured to perform an erosion operation on pixel values in a filled occupancy map of a point cloud to be decoded to obtain an eroded occupancy map.
  • the point cloud reconstruction module is used to reconstruct the point cloud to be decoded according to the corroded occupation map.
  • an encoder including: an auxiliary information encoding module for determining instruction information and coding the instruction information into a code stream; and the instruction information is used to indicate whether to encode the point cloud according to the target encoding method.
  • the occupancy map is used for processing; the target encoding method includes any of the point cloud decoding methods (specifically, the point cloud encoding method) provided by the first aspect and its possible design, or the second aspect and its possible design.
  • a decoder including: an auxiliary information decoding module for parsing a code stream to obtain indication information, the indication information is used to indicate whether to process an occupancy map of a decoded point cloud according to a target decoding method;
  • the target decoding method includes the above-mentioned first aspect and its possible design, or any point cloud decoding method provided by the second aspect and its possible design (specifically, a point cloud decoding method).
  • the occupancy map filtering module is configured to process the occupancy map of the point cloud to be decoded according to the target decoding method when the indication information is used to process the occupancy map of the point cloud to be decoded according to the target decoding method.
  • a decoding device including: a memory and a processor; wherein the memory is used to store program code; the processor is used to call the program code to execute the first aspect and its possible design, or Any point cloud decoding method provided by the second aspect and its possible design.
  • an encoding device including: a memory and a processor; wherein the memory is used to store program code; the processor is used to call the program code to execute the point cloud encoding method provided by the third aspect.
  • a decoding device including: a memory and a processor; wherein the memory is used to store program code; the processor is used to call the program code to execute the point cloud encoding method provided in the fourth aspect above.
  • This application also provides a computer-readable storage medium, including program code, which, when run on a computer, causes the computer to execute the first aspect and its possible designs as described above, or the second aspect and its possible designs. Any of the point cloud decoding methods.
  • the present application also provides a computer-readable storage medium, including program code, which, when run on a computer, causes the computer to execute the point cloud encoding method provided by the third aspect.
  • the present application also provides a computer-readable storage medium, including program code, which when run on a computer causes the computer to execute the point cloud encoding method provided by the fourth aspect.
  • FIG. 1 is a schematic block diagram of a point cloud decoding system that can be used in an example of an embodiment of the present application
  • FIG. 2 is a schematic block diagram of an encoder that can be used in an example of an embodiment of the present application
  • FIG. 3 is a schematic diagram of a point cloud, a point cloud patch, and a point cloud occupancy map applicable to the embodiments of the present application;
  • FIG. 4 is a schematic block diagram of a decoder that can be used in an example of an embodiment of the present application
  • FIG. 5 is a schematic comparison diagram before and after filling a point cloud occupancy map applicable to the embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a point cloud decoding method according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a target preset position according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of another target preset position according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of another target preset position according to an embodiment of the present application.
  • FIG. 10 is an index, a discrimination mode diagram, a schematic diagram, and a schematic diagram describing a correspondence relationship of types of pixel blocks provided by an embodiment of the present application;
  • FIG. 11 is a schematic diagram of determining a pixel of a target preset position according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of determining a pixel at a preset target position according to another embodiment of the present application.
  • FIG. 13 is a schematic diagram of determining a pixel at a preset target position according to another embodiment of the present application.
  • FIG. 14 is a schematic diagram of determining a pixel of a target preset position according to another embodiment of the present application.
  • FIG. 15 is a schematic diagram of pixel blocks of two types of pending boundary pixel blocks of type 1 before being filled according to an embodiment of the present application;
  • 16 is a schematic diagram of a code stream structure according to an embodiment of the present application.
  • FIG. 17 is a schematic flowchart of another point cloud decoding method according to an embodiment of the present application.
  • FIG. 19 is a schematic flowchart of a point cloud encoding method according to an embodiment of the present application.
  • FIG. 20 is a schematic flowchart of a point cloud decoding method according to an embodiment of the present application.
  • 21 is a schematic block diagram of a decoder according to an embodiment of the present application.
  • 22A is a schematic block diagram of another decoder according to an embodiment of the present application.
  • 22B is a schematic block diagram of another decoder according to an embodiment of the present application.
  • FIG. 23 is a schematic block diagram of an encoder according to an embodiment of the present application.
  • FIG. 24 is a schematic block diagram of a decoder according to an embodiment of the present application.
  • FIG. 25 is a schematic block diagram of an implementation manner of a decoding device used in an embodiment of the present application.
  • At least one (species) in the embodiments of the present application includes one (species) or a plurality (species).
  • Multiple (species) means two (species) or two or more.
  • at least one of A, B, and C includes: A alone, B alone, A and B simultaneously, A and C, B and C, and A, B, and C.
  • "/" represents or means, for example, A / B may represent A or B;
  • and / or” herein is merely an association relationship describing an associated object, It means that there can be three kinds of relationships, for example, A and / or B, it can mean: there are three cases of A alone, A and B, and B alone.
  • Multiple means two or more.
  • words such as “first” and “second” are used to distinguish between the same or similar items having substantially the same functions and functions. Those skilled in the art can understand that the words “first”, “second” and the like do not limit the number and execution order, and the words “first” and “second” are not necessarily different.
  • FIG. 1 is a schematic block diagram of a point cloud decoding system 1 that can be used in an example of an embodiment of the present application.
  • the terms "point cloud coding” or “coding” may generally refer to point cloud coding or point cloud decoding.
  • the encoder 100 of the point cloud decoding system 1 may encode the point cloud to be encoded according to any one of the point cloud encoding methods proposed in this application.
  • the decoder 200 of the point cloud decoding system 1 may decode the point cloud to be decoded according to the point cloud decoding method corresponding to the point cloud encoding method used by the encoder.
  • the point cloud decoding system 1 includes a source device 10 and a destination device 20.
  • the source device 10 generates encoded point cloud data. Therefore, the source device 10 may be referred to as a point cloud encoding device.
  • the destination device 20 may decode the encoded point cloud data generated by the source device 10. Therefore, the destination device 20 may be referred to as a point cloud decoding device.
  • Various implementations of the source device 10, the destination device 20, or both may include one or more processors and a memory coupled to the one or more processors.
  • the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), read-only memory (EEPROM) ), Flash memory, or any other medium that can be used to store the desired program code in the form of instructions or data structures accessible by a computer, as described herein.
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • EEPROM read-only memory
  • Flash memory or any other medium that can be used to store the desired program code in the form of instructions or data structures accessible by a computer, as described herein.
  • the source device 10 and the destination device 20 may include various devices including desktop computers, mobile computing devices, notebook (e.g., laptop) computers, tablet computers, set-top boxes, telephone handsets, such as so-called “smart” phones, etc. Cameras, televisions, cameras, display devices, digital media players, video game consoles, on-board computers, or the like.
  • the destination device 20 may receive the encoded point cloud data from the source device 10 via the link 30.
  • the link 30 may include one or more media or devices capable of moving the encoded point cloud data from the source device 10 to the destination device 20.
  • the link 30 may include one or more communication media that enable the source device 10 to send the encoded point cloud data directly to the destination device 20 in real time.
  • the source device 10 may modulate the encoded point cloud data according to a communication standard, such as a wireless communication protocol, and may send the modulated point cloud data to the destination device 20.
  • the one or more communication media may include wireless and / or wired communication media, such as a radio frequency (RF) spectrum or one or more physical transmission lines.
  • RF radio frequency
  • the one or more communication media may form part of a packet-based network, such as a local area network, a wide area network, or a global network (eg, the Internet).
  • the one or more communication media may include a router, a switch, a base station, or other devices that facilitate communication from the source device 10 to the destination device 20.
  • the encoded data may be output from the output interface 140 to the storage device 40.
  • the encoded point cloud data can be accessed from the storage device 40 through the input interface 240.
  • the storage device 40 may include any of a variety of distributed or locally-accessed data storage media, such as a hard disk drive, a Blu-ray disc, a digital versatile disc (DVD), or a compact disc (read-only). only memory (CD-ROM), flash memory, volatile or non-volatile memory, or any other suitable digital storage medium for storing encoded point cloud data.
  • the storage device 40 may correspond to a file server or another intermediate storage device that may hold the encoded point cloud data generated by the source device 10.
  • the destination device 20 may access the stored point cloud data from the storage device 40 via streaming or download.
  • the file server may be any type of server capable of storing the encoded point cloud data and transmitting the encoded point cloud data to the destination device 20.
  • the example file server includes a network server (eg, for a website), a file transfer protocol (FTP) server, a network attached storage (NAS) device, or a local disk drive.
  • the destination device 20 can access the encoded point cloud data through any standard data connection, including an Internet connection.
  • the transmission of the encoded point cloud data from the storage device 40 may be a streaming transmission, a download transmission, or a combination of the two.
  • the point cloud decoding system 1 illustrated in FIG. 1 is merely an example, and the technology of the present application can be applied to point cloud decoding (for example, a point cloud) that does not necessarily include any data communication between the point cloud encoding device and the point cloud decoding device.
  • (Cloud encoding or point cloud decoding) device In other examples, data is retrieved from local storage, streamed over a network, and so on.
  • the point cloud encoding device may encode the data and store the data to a memory, and / or the point cloud decoding device may retrieve the data from the memory and decode the data. In many instances, encoding and decoding are performed by devices that do not communicate with each other, but only encode data to and / or retrieve data from memory and decode data.
  • the source device 10 includes a data source 120, an encoder 100, and an output interface 140.
  • the output interface 140 may include a modulator / demodulator (modem) and / or a transmitter (or a transmitter).
  • the data source 120 may include a point cloud capture device (e.g., a camera), a point cloud archive containing previously captured point cloud data, a point cloud feed interface to receive point cloud data from a point cloud content provider, and / or Computer graphics systems for generating point cloud data, or a combination of these sources of point cloud data.
  • the encoder 100 may encode point cloud data from the data source 120.
  • the source device 10 sends the encoded point cloud data directly to the destination device 20 via the output interface 140.
  • the encoded point cloud data may also be stored on the storage device 40 for later access by the destination device 20 for decoding and / or playback.
  • the destination device 20 includes an input interface 240, a decoder 200, and a display device 220.
  • the input interface 240 includes a receiver and / or a modem.
  • the input interface 240 may receive the encoded point cloud data via the link 30 and / or from the storage device 40.
  • the display device 220 may be integrated with the destination device 20 or may be external to the destination device 20. Generally, the display device 220 displays the decoded point cloud data.
  • the display device 220 may include various display devices, such as a liquid crystal display (LCD), a plasma display, an organic light-emitting diode (OLED) display, or other types of display devices.
  • LCD liquid crystal display
  • OLED organic light-emitting diode
  • the encoder 100 and the decoder 200 may each be integrated with an audio encoder and decoder, and may include an appropriate multiplexer-demultiplexer (multiplexer- demultiplexer (MUX-DEMUX) unit or other hardware and software to handle encoding of both audio and video in a common or separate data stream.
  • MUX-DEMUX multiplexer-demultiplexer
  • the MUX-DEMUX unit may conform to the ITU H.223 multiplexer protocol, or other protocols such as the user datagram protocol (UDP).
  • the encoder 100 and the decoder 200 may each be implemented as any of a variety of circuits such as one or more microprocessors, digital signal processors (DSPs), and application specific integrated circuits (applications) specific integrated circuit (ASIC), field-programmable gate array (FPGA), discrete logic, hardware, or any combination thereof. If the present application is implemented partially in software, the device may store instructions for the software in a suitable non-volatile computer-readable storage medium and may use one or more processors to execute the instructions in hardware Thus implementing the technology of the present application. Any of the foregoing (including hardware, software, a combination of hardware and software, etc.) may be considered as one or more processors. Each of the encoder 100 and the decoder 200 may be included in one or more encoders or decoders, any of which may be integrated as a combined encoder / decoder in a corresponding device (Codec).
  • codec codec
  • This application may generally refer to the encoder 100 as “signaling” or “sending” certain information to another device, such as the decoder 200.
  • the terms “signaling” or “sending” may generally refer to the transmission of syntax elements and / or other data to decode the compressed point cloud data. This transfer can occur in real time or almost real time. Alternatively, this communication may occur after a period of time, such as may occur when a syntax element is stored in a coded bit stream to a computer-readable storage medium at the time of encoding, and the decoding device may then after the syntax element is stored to this medium Retrieve the syntax element at any time.
  • FIG. 2 it is a schematic block diagram of an encoder 100 that can be used in an example of an embodiment of the present application.
  • FIG. 2 is based on an MPEG (Moving Picture Expert Group) point cloud compression (PCC) coding framework as an example for illustration.
  • the encoder 100 may include a patch information generation module 101, a packing module 102, a depth map generation module 103, a texture map generation module 104, a first filling module 105, an image or video-based encoding module 106, and an occupation.
  • the encoder 100 may further include a point cloud filtering module 110, a second filling module 111, a point cloud reconstruction module 112, and the like. among them:
  • the patch information generating module 101 is configured to divide a point cloud of a frame into multiple patches by using a certain method, and obtain related information of the generated patches.
  • patch refers to a set of partial points in a frame of point cloud.
  • one connected area corresponds to one patch.
  • the relevant information of the patch may include, but is not limited to, at least one of the following information: the number of patches the point cloud is divided into, the position information of each patch in the three-dimensional space, the index of the normal coordinate axis of each patch, each Depth maps generated from 3D space to 2D space for each patch, depth map size (such as width and height of each depth map) of each patch, and occupancy maps generated from 3D space to 2D space for each patch.
  • the relevant information such as the number of patches divided by the point cloud, the index of the normal axis of each patch, the depth map size of each patch, the position information of each patch in the point cloud, each
  • the size information and the like of the occupancy map of the patch can be sent as auxiliary information to the auxiliary information encoding module 108 for encoding (that is, compression encoding).
  • the occupancy map of each patch can be sent to the packaging module 102 for packaging.
  • the patches of the point cloud are arranged in a specific order, for example, in descending (or ascending) order of the width / height of the occupancy map of each patch; Then, in accordance with the order of the arranged patches, the patch occupancy map is sequentially inserted into the available area of the point cloud occupancy map to obtain the point cloud occupancy map.
  • the specific position information of each patch in the point cloud occupancy map and the depth map of each patch can be sent to the depth map generation module 103.
  • the occupancy map of the point cloud may be filled by the second filling module 111 and sent to the occupancy map encoding module 107 for encoding.
  • the occupancy map of the point cloud can be used to guide the depth map generation module 103 to generate the depth map of the point cloud and the guided texture map generation module 104 to generate the texture map of the point cloud.
  • FIG. 3 it is a schematic diagram of a point cloud, a point cloud patch, and a point cloud occupancy map applicable to the embodiment of the present application.
  • FIG. 3 (a) in FIG. 3 is a schematic diagram of a point cloud
  • (b) in FIG. 3 is a schematic diagram of a patch based on the point cloud obtained in (a) of FIG. 3
  • (c) in FIG. 3 is FIG. 3
  • (b) is a schematic diagram of the occupancy map of the point cloud obtained by mapping the occupancy map of each patch obtained by mapping the patches on a two-dimensional plane.
  • a depth map generation module 103 is configured to generate a depth map of the point cloud according to the occupancy map of the point cloud, the occupancy map of each patch of the point cloud, and depth information, and send the generated depth map to the first filling module 105. Fill the blank pixels in the depth map to obtain a filled depth map.
  • a texture map generating module 104 is configured to generate a texture map of the point cloud according to the occupancy map of the point cloud, the occupancy map of each patch of the point cloud, and texture information, and send the generated texture map to the first filling module 105. Fill blank pixels in the texture map to obtain a filled texture map.
  • the filled depth map and the filled texture map are sent by the first filling module 105 to the image or video-based encoding module 106 to perform image or video-based encoding.
  • the image or video-based encoding module 106, the occupancy map encoding module 107, and the auxiliary information encoding module 108 send the obtained encoding result (that is, the code stream) to the multiplexing module 109 to merge into a code stream.
  • the code stream may be sent to the output interface 140.
  • the encoding result (that is, the code stream) obtained by the image or video-based encoding module 106 is sent to the point cloud reconstruction module 112 for point cloud reconstruction to obtain a reconstructed point cloud (specifically, a reconstructed point) Cloud geometric information).
  • video decoding is performed on the encoded depth map obtained by the image or video-based encoding module 106 to obtain a decoded depth map of the point cloud, and the decoded depth map, the occupancy map of the point cloud, and auxiliary information of each patch are used.
  • the geometric information of the point cloud refers to the coordinate values of points in the point cloud (for example, each point in the point cloud) in a three-dimensional space.
  • the “occupation map of the point cloud” herein may be an occupancy map obtained after the point cloud is filtered (or referred to as smoothing processing) by the filtering module 113.
  • the point cloud reconstruction module 112 may also send the texture information of the point cloud and the reconstructed point cloud geometric information to the coloring module, and the coloring module is used to color the reconstructed point cloud to obtain a reconstructed point cloud. Texture information.
  • the texture map generating module 104 may further generate a texture map of the point cloud based on the information obtained by filtering the reconstructed point cloud geometric information through the point cloud filtering module 110.
  • the occupancy map filtering module 113 is located between the second filling module 111 and the point cloud reconstruction module 112, and is configured to filter the filled occupancy map of the point cloud received by the second filling module 111, and filter the filtered occupancy map. Send to the point cloud reconstruction module 112. In this case, the point cloud reconstruction module 112 reconstructs the point cloud based on the filtered occupancy map of the point cloud.
  • the filtering (also referred to as smoothing) of the filled occupancy map of the point cloud may be specifically embodied as: setting the values of some pixels in the filled occupancy map of the point cloud to 0.
  • the corresponding target processing method may be used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to 0.
  • the occupancy map filtering module 113 is also connected to the packing module 102 and the auxiliary information coding module 108, as shown by the dashed lines in FIG. 2.
  • the occupancy map filtering module 113 is further configured to determine a target processing mode corresponding to the boundary pixel block to be processed according to the occupancy map of the point cloud sent by the packaging module 102, and send identification information of the target processing mode to the auxiliary information encoding module 108 as auxiliary information.
  • the identification information is compiled into the code stream by the auxiliary information encoding module 108.
  • the identification information of the target processing mode is used as auxiliary information, and the auxiliary information encoding module 108 encodes the identification information into the code stream as an example for illustration.
  • the identification of the target processing mode The information may also be encoded into a code stream by an encoding module independent of the auxiliary information encoding module 108 and sent to the multiplexing module 109 to obtain a combined code stream.
  • the occupancy map filter module 113 determines the target processing method corresponding to the boundary pixel block to be processed according to the occupancy map of the point cloud sent by the packaging module 102 as an example.
  • the occupancy map The filtering module 113 may also determine the target processing mode without relying on the occupancy map of the point cloud sent by the packaging module 102. In this case, the occupancy map filtering module 113 may not be connected to the packing module 102.
  • the encoder 100 shown in FIG. 2 is only an example. In specific implementation, the encoder 100 may include more or fewer modules than those shown in FIG. 2. This embodiment of the present application does not limit this.
  • the decoder 200 may include a demultiplexing module 201, an image or video-based decoding module 202, an occupation map decoding module 203, an auxiliary information decoding module 204, a point cloud reconstruction module 205, and a point cloud filtering module. 206 and the texture information reconstruction module 207 of the point cloud.
  • the decoder 200 may include an occupation map filtering module 208. among them:
  • the demultiplexing module 201 is configured to send an input code stream (that is, a combined code stream) to a corresponding decoding module. Specifically, the code stream containing the encoded texture map and the coded depth map are sent to the image or video-based decoding module 202; the code stream containing the encoded occupancy map is sent to the occupancy map decoding module 203 , Sending a code stream containing the encoded auxiliary information to the auxiliary information decoding module 204.
  • the image or video-based decoding module 202 is configured to decode the received encoded texture map and the encoded depth map; and then send the decoded texture map information to the point cloud texture information reconstruction module 207, Send the decoded depth map information to the point cloud reconstruction module 205.
  • the occupancy map decoding module 203 is configured to decode the received code stream containing the encoded occupancy map, and send the decoded occupancy map information to the point cloud reconstruction module 205. Applied in the embodiment of the present application, the occupancy map information sent to the point cloud reconstruction module 205 may be information of the occupancy map obtained after filtering by the occupancy map filtering module 208.
  • the auxiliary information decoding module 204 is configured to decode the received encoded auxiliary information, and send the decoded information indicating the auxiliary information to the point cloud reconstruction module 205.
  • the point cloud reconstruction module 205 is configured to reconstruct the geometric information of the point cloud according to the received occupancy map information and auxiliary information. For a specific reconstruction process, refer to the reconstruction of the point cloud reconstruction module 112 in the encoder 100. The process is not repeated here.
  • the geometric information of the reconstructed point cloud is filtered by the point cloud filtering module 206, it is sent to the texture information reconstruction module 207 of the point cloud.
  • the point cloud texture information reconstruction module 207 is configured to reconstruct the point cloud texture information to obtain a reconstructed point cloud.
  • the occupancy map filtering module 208 is described in detail below.
  • the occupancy map filtering module 208 is located between the occupancy map decoding module 203 and the point cloud reconstruction module 205, and is configured to filter the occupancy map represented by the occupancy map information sent by the occupancy map decoding module 203, and The information is sent to the point cloud reconstruction module 205.
  • the occupancy map here is a point cloud filled occupancy map. Filtering the point cloud filled occupancy map can be specifically embodied as: setting some pixels of the point cloud filled occupancy map to zero. Specifically, according to the type of the boundary pixel block to be processed in the filled occupancy map of the point cloud, the corresponding target processing method may be used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to 0. For specific examples and related explanations, refer to the following.
  • the occupancy map filtering module 113 is also connected to the auxiliary information decoding module 204, as shown by the dotted line in FIG. 4, and is used to receive identification information of the target processing mode obtained by the auxiliary information decoding module 204 analyzing the code stream.
  • This optional implementation manner corresponds to the above-mentioned embodiment "the occupancy map filtering module 113 is also connected to the packing module 102 and the auxiliary information encoding module 108" or the above-mentioned alternative solution of this embodiment.
  • the decoder 200 may use this alternative implementation for decoding.
  • the decoder 200 shown in FIG. 4 is only an example. In specific implementation, the decoder 200 may include more or fewer modules than those shown in FIG. 4. This embodiment of the present application does not limit this.
  • the point cloud filtering module 110 in the encoder 100 and the point cloud filtering module 206 in the decoder 200 can remove pixels with obvious noise characteristics such as free points and frizzy boundaries in the reconstructed point cloud. . That is, using the point cloud filtering module can remove some outlier points (ie, outliers or outliers) in the reconstructed point cloud. However, if the outlier points in the reconstructed point cloud can be removed only by the point cloud filtering module, the effect is not good.
  • the embodiments of the present application provide a new point cloud codec method and codec.
  • the padding is a step of processing the occupancy map of the point cloud introduced to save code stream overhead.
  • a filling method may include: traversing each pixel block of B0 * B0 in the occupancy map of the point cloud, and there is no overlap between pixel blocks of different B0 * B0. For any pixel block of B0 * B0, if the value of at least one pixel in the pixel block is 1, the values of all pixels in the pixel block are filled with 1 (that is, all are set to 1).
  • the resolution of the occupancy map of the filled point cloud is B0 * B0, which will be described uniformly here, and will not be described in detail below.
  • FIG. 5 it is a schematic comparison diagram before and after filling a point cloud occupancy map applicable to the embodiment of the present application.
  • the occupancy map before the point cloud is filled is shown in the upper left diagram in FIG. 5, and the occupancy map after the point cloud is filled is shown in the upper right diagram in FIG. 5.
  • the partial occupancy map in the upper left diagram of FIG. 5 is shown in the lower left diagram in FIG. 5, and the occupancy map obtained after filling the partial occupancy map is shown in the lower right diagram in FIG. 5.
  • filling the occupancy map of the point cloud is specifically filling the boundary pixel blocks in the occupancy map of the point cloud.
  • the boundary pixel block is shown by a gray box in the lower left image in FIG. 5.
  • the filled pixels (that is, pixels with a pixel value of 0 before filling and a pixel value of 1 after filling) are reconstructed by the point cloud in the encoder 100 through the point cloud reconstruction module 112, and passed through the points in the decoder 200. After the cloud reconstruction module 205 reconstructs the point cloud, they all become outlier points in the reconstructed point cloud.
  • the embodiments of the present application provide an effective way to reduce outlier points of the reconstructed point cloud caused by the filling of the point cloud occupancy map, thereby improving codec performance. Specifically, before the point cloud is reconstructed at the encoding end and / or the decoding end, the filled occupancy map of the point cloud is filtered, and the point cloud is used to reconstruct the point cloud.
  • the above-mentioned filling method is merely an example, and it does not limit the filling method applicable to the embodiments of the present application.
  • the "point cloud filled occupancy map" in the technical solution of "filtering the point cloud filled occupancy map, so as to reconstruct the point cloud using the point cloud filtered occupancy map" provided in the embodiment of the present application It can be an occupancy map obtained by filling the occupancy map of the point cloud by using any filling method.
  • any of the following point cloud encoding methods may be performed by the source device 10 in the point cloud decoding system, and more specifically, the source device 10 is performed by the encoder 100; any of the following point cloud decoding methods may be performed by the destination device 20 in the point cloud decoding system, and more specifically, performed by the decoder 200 in the destination device 20 .
  • the point cloud decoding method described below may include a point cloud encoding method or a point cloud decoding method.
  • the point cloud decoding method is specifically a point cloud encoding method
  • the point cloud to be decoded in the embodiment shown in FIG. 6 is specifically a point cloud to be encoded
  • the point cloud decoding method is specifically a point cloud decoding method
  • the diagram The point cloud to be decoded in the embodiment shown in FIG. 6 is specifically a point cloud to be decoded.
  • FIG. 6 it is a schematic flowchart of a point cloud decoding method according to an embodiment of the present application.
  • the method may include:
  • S101 Determine a type of a boundary pixel block to be processed in a filled occupancy map of a point cloud to be decoded.
  • the pixel blocks in the filled occupancy map of the point cloud can be divided into invalid pixel blocks and valid pixel blocks.
  • the invalid pixel block refers to a pixel block whose pixel values are all 0, such as the pixel block included in the black part in the lower right diagram of FIG. 5.
  • the effective pixel block refers to a pixel block having a value of 1 for at least one pixel, such as the pixel block included in the white part in the lower right diagram of FIG. 5.
  • the boundary pixel block to be processed is a basic filling unit for performing filling of the occupancy map of the point cloud to be decoded. The following specific examples are used as an example for description, and are described here in a unified manner, which will not be described in detail below.
  • the effective pixel block includes a boundary pixel block and a non-boundary pixel block. Wherein, if all spatially adjacent pixel blocks of an effective pixel block are effective pixel blocks, the effective pixel block is a non-boundary pixel block; otherwise, the pixel block is a boundary pixel block.
  • the boundary pixel block refers to the boundary pixel block of the filled occupancy map of the point cloud to be decoded, that is, in this method, the boundary pixel block and the non-boundary pixel block are distinguished based on the granularity of the point cloud occupancy map. of.
  • the spatially adjacent pixel block of an effective pixel block is an effective pixel block
  • the spatially adjacent pixel block and the effective pixel block may belong to the same patch occupation map, or may belong to different patch occupation maps.
  • the non-edge pixel blocks in the white portion in the lower right portion of FIG. 5 are non-boundary pixel blocks, and the pixel blocks in the white portion and adjacent to the black portion in the lower right portion of FIG. 5.
  • the boundary pixel block refers to the boundary pixel block of the patch occupancy map in the occupancy map filled with the point cloud to be decoded, that is, in this method, the boundary pixels are distinguished based on the granularity of the patch occupancy map. Block and non-boundary pixel blocks.
  • the spatially adjacent pixel block of an effective pixel block is an effective pixel block, the occupancy map of the same patch that the spatially adjacent pixel block and the effective pixel block belong to.
  • the space occupied by the patch occupation graph refers to the space occupied by the smallest outer rectangle of the patch occupation graph. Since the patch occupancy map is generally irregular, there are generally some unoccupied pixel blocks (that is, invalid pixel blocks) in the smallest outer rectangle of the patch occupancy map. Therefore, there may be a valid pixel One or some spatially adjacent pixel blocks of the block are invalid pixel blocks.
  • the occupancy map of patch1 to which the current pixel block belongs is adjacent to the eight spatial domains.
  • Occupancy map of patch2 to one or more spatially adjacent pixel blocks in the pixel block then: based on the first method described above, the current pixel block is considered to be a non-boundary pixel block; based on the second method described above, the current pixel block is considered to be a boundary Pixel blocks.
  • the boundary pixel block to be processed in S101 may be any boundary pixel block in the occupied map in which the point cloud to be decoded is filled.
  • the embodiment of the present application does not limit the specific implementation method of determining the boundary pixel block in the filled occupancy map. For example, reference may be made to the prior art.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include those adjacent to the pixel block and located directly above, directly below, directly to the left, directly to the right, to the left, to the left, to the right, and to the right One or more pixel blocks below.
  • the decoder may determine whether the two pixel blocks are adjacent to each other and the orientation of one pixel block with respect to the other pixel block according to the coordinates of the two pixel blocks.
  • S101 may include: based on whether the spatially adjacent pixel blocks of the boundary pixel block to be processed are invalid pixel blocks, estimating that invalid pixels (or valid pixels) in the boundary pixel block to be processed are in the boundary pixel block to be processed.
  • Orientation information wherein different types of boundary pixel blocks to be processed correspond to different orientation information. For example, first, in the filled occupancy map of the point cloud, obtain spatially adjacent pixel blocks of the boundary pixel blocks to be processed, and then determine whether these spatially adjacent pixel blocks are invalid pixel blocks (or whether they are valid pixel blocks). ) To determine the type of the boundary pixel block to be processed.
  • S101 may include: estimating whether an invalid pixel in a boundary pixel block to be processed is on a boundary to be processed based on whether a spatial adjacent pixel block of the pixel block before filling in the boundary pixel block to be processed is an invalid pixel block.
  • Orientation information in pixel blocks For example, first obtain the pixel blocks of the boundary pixel block to be processed before filling in the occupancy map of the point cloud before filling, and the spatially adjacent pixel blocks of the pixel blocks of the boundary pixel block to be processed before filling, and then determine by Whether these spatially adjacent pixel blocks are invalid pixel blocks (or whether they are valid pixel blocks) determines the type of boundary pixel blocks to be processed.
  • Invalid pixels in the boundary pixel block to be processed refer to pixels with a pixel value of 0 before filling in the boundary pixel block to be processed.
  • the valid pixels in the boundary pixel block to be processed refer to pixels with a pixel value of 1 before filling in the boundary pixel block to be processed. According to the description above and in conjunction with FIG. 5, it is not difficult to understand that the pixels in the boundary pixel block to be processed are all 1, but some pixels in the boundary pixel block to be processed are 0 before being filled. These pixels are They are called invalid pixels. Other pixels have a pixel value of 1 before padding. These pixels are called valid pixels.
  • the orientation information of invalid pixels in the pending boundary pixel block in the pending boundary pixel block may include at least one of the following: directly above, directly below, directly left, directly right, upper left, lower left, upper right, and right Below. It can be understood that if the orientation information of the invalid pixels in the pending boundary pixel block in the pending boundary pixel block is directly above, the orientation information of the valid pixels in the pending boundary pixel block in the pending boundary pixel block is directly below; If the orientation information of the invalid pixels in the to-be-processed boundary pixel block in the to-be-processed boundary pixel block is the upper right, the orientation information of the valid pixels in the to-be-processed boundary pixel block in the to-be-processed boundary pixel block is the bottom-left. Other examples are similar, and are not listed here one by one.
  • the orientation information in the present application refers to the orientation information of the invalid pixels in the boundary pixel block to be processed in the boundary pixel block to be processed, which will be collectively described here and will not be described in detail below.
  • boundary pixel blocks to be processed correspond to different orientation information. For example, if the invalid pixels in the boundary pixel block to be processed are directly above the boundary pixel block to be processed, the type of the boundary pixel block to be processed may be marked as type A. As another example, if the invalid pixels in the boundary pixel block to be processed are directly above and below the boundary pixel block to be processed, the type of the boundary pixel block to be processed may be marked as type B. For another example, if the invalid pixels in the boundary pixel block to be processed are directly above, directly to the left, and below the boundary pixel block to be processed, the type of the boundary pixel block to be processed may be marked as type C. Other examples are not listed one by one.
  • an invalid pixel in the boundary pixel block to be processed is estimated
  • the preset orientation in the block of pixels to be processed is one or a combination of at least two of directly above, directly below, directly left, right, upper left, upper right, lower left, and lower right.
  • the probability that the pixel of the preset orientation within the boundary pixel block to be processed is an invalid pixel is greater than the pixel of the preset orientation is The probability of a valid pixel. Therefore, the pixel of the preset orientation estimated by the decoder in the embodiment of the present application is an invalid pixel.
  • the probability that a pixel directly above the boundary pixel block to be processed is an invalid pixel is greater than the probability that a pixel directly above is a valid pixel, so
  • the pixel directly above the decoder is an invalid pixel. This example can be obtained in conjunction with FIG. 5. Other examples are not listed one by one.
  • the corresponding target processing method is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel block.
  • the above S101 to S102 can be considered as one of "setting the value of the pixel at the target preset position in the to-be-processed boundary pixel block in the occupied occupancy map to be decoded to zero to obtain a zero-set pixel block" Specific implementation.
  • the target preset position is a position in the boundary pixel block to be processed, and the distance between the target valid pixel and the invalid pixel is greater than or equal to a preset threshold; or, the target preset position is the pending process.
  • the position of the invalid pixel in the boundary pixel block and the distance from the straight line where the target effective pixel is located is greater than or equal to a preset threshold.
  • the straight line where the effective pixel is located is related to the type of the boundary pixel block to be processed. For specific examples, refer to the following.
  • the target effective pixel refers to the pixel most likely to be an effective pixel estimated by the decoder. For example, according to the position information of the invalid pixels (or valid pixels) in the to-be-processed boundary pixel block in the to-be-processed boundary pixel block, it is estimated that the pixels in the to-be-processed boundary pixel block that are most likely to be valid pixels.
  • the target effective pixel in the boundary pixel block to be processed is the pixel in the bottom row of the boundary pixel block to be processed.
  • FIG. 7 it is a schematic diagram of a target preset position applicable to this example.
  • the pixel block to be processed is a 4 * 4 pixel block
  • the preset threshold is 2 (specifically, 2 unit distances, one of which is between two adjacent pixels in the horizontal or vertical direction). Distance) as an example.
  • the orientation information of the invalid pixels in the to-be-processed boundary pixel block in the to-be-processed boundary pixel block is the lower left
  • the orientation information of the valid pixels in the to-be-processed boundary pixel block in the to-be-processed boundary pixel block is the upper-right
  • the target effective pixel in the to-be-processed boundary pixel block is the one or more pixels on the far right in the to-be-processed boundary pixel block.
  • FIG. 8 it is a schematic diagram of a target preset position applicable to this example. Among them, (a) in FIG.
  • the target preset position is in the boundary pixel block to be processed, and the position of the invalid pixel whose distance from the straight line where the target valid pixel is greater than or equal to a preset threshold is
  • (b) in FIG. 8 is an example in which the target preset position is in the boundary pixel block to be processed, and the distance between the target valid pixel and the invalid pixel is greater than or equal to a preset threshold.
  • the boundary pixel block to be processed is a 4 * 4 pixel block
  • the preset threshold is 2 (specifically, 2 unit distances, one unit distance is two pixels adjacent to each other in a diagonal direction of 45 degrees). the distance between).
  • the orientation information of the invalid pixels in the pending boundary pixel block in the pending boundary pixel block is directly above and below the left
  • the orientation information of the valid pixels in the pending boundary pixel block in the pending boundary pixel block is positive.
  • the target effective pixels in the boundary pixel block to be processed are the pixels in the bottom row of the boundary pixel block to be processed, and one or more pixels in the top right, as shown in FIG. 9 (a) is shown in shaded parts.
  • the preset pixel position is shown as a black part in (b) in FIG. 9.
  • S103 Reconstruct the point cloud to be decoded according to the processed occupancy map, where the processed occupancy map includes pixel blocks that are zeroed. For example, video decoding is performed based on the encoded depth map to obtain the decoded depth map of the point cloud.
  • the decoded depth map, the processed occupancy map of the point cloud, and auxiliary information of each patch are used to obtain the reconstructed point cloud geometry. information.
  • a value of a pixel at a target preset position in a to-be-processed boundary pixel block in a filled occupancy map of a point cloud to be decoded is set to zero, and according to the processed occupancy
  • the graph reconstructs the point cloud to be decoded, and the processed occupancy graph includes zeroed pixel blocks.
  • the point cloud decoding method performs filtering (or smoothing) of the filled occupancy map of the point cloud to be decoded before reconstructing the point cloud to be decoded.
  • boundary pixel blocks to be processed or the orientation information of invalid pixels in the boundary pixel blocks to be processed in the boundary pixel blocks to be processed are described based on the different neighboring pixel blocks in the spatial domain.
  • the spatially adjacent pixel block on which the description is based refers to the spatially adjacent pixel block on which the boundary pixel block to be processed is determined. It should not be understood as the spatially adjacent pixel blocks of the boundary pixel blocks to be processed. For example, there may be a spatially adjacent pixel block of a boundary pixel block to be processed, which includes 8 pixel blocks, but based on the following situations, it is only based on the pixel block just above, directly below, left and right. Pixel block to determine the type of boundary pixel block to be processed. Other examples are similar, and are not listed here one by one.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include: pixel blocks adjacent to the boundary pixel block to be processed and located directly above, directly below, directly to the left and right of the boundary pixel block to be processed.
  • the orientation information of the invalid pixels in the boundary pixel block to be processed in the boundary pixel block to be processed may include any of the following:
  • Method 1A If the spatially adjacent pixel block in the preset direction of the boundary pixel block to be processed is an invalid pixel block, and the other adjacent pixels in the spatial domain are all valid pixel blocks, the invalid pixels in the pending boundary pixel block are to be processed.
  • the orientation information in the boundary pixel block is: the invalid pixels in the boundary pixel block to be processed are located in a preset direction in the boundary pixel block to be processed; the preset direction includes one of directly above, directly below, directly left, and right One or a combination of at least two.
  • Type 1 the type of the boundary pixel block to be processed corresponding to the orientation information described in Mode 1A may be referred to as Type 1.
  • type 2 the type of the boundary pixel block to be processed corresponding to the azimuth information described in Mode 1A may be referred to as type 2.
  • type 7 the type of the boundary pixel block to be processed corresponding to the azimuth information described in Mode 1A may be referred to as type 8.
  • Method 1B If the pixel blocks directly above and to the right of the boundary pixel block to be processed are invalid pixel blocks, and the pixel blocks directly below and to the left of the boundary pixel block to be processed are valid pixel blocks,
  • the orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the upper right of the boundary pixel block to be processed.
  • the type of the boundary pixel block to be processed corresponding to the orientation information is called type 3.
  • the The orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the lower left of the boundary pixel block to be processed.
  • the type of the boundary pixel block to be processed corresponding to the orientation information is called type 4.
  • the The orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the upper left of the boundary pixel block to be processed.
  • the type of the boundary pixel block to be processed corresponding to the orientation information is called type 5.
  • the The orientation information of the invalid pixel in the to-be-processed boundary pixel block is: the invalid pixel in the to-be-processed boundary pixel block is located at the lower right of the to-be-processed boundary pixel block.
  • the type of the boundary pixel block to be processed corresponding to the orientation information is called type 6.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include: adjacent to the boundary pixel block to be processed and located directly above, directly below, directly to the left, directly to the left, above the left, Top right, bottom left, and bottom right pixel blocks.
  • the spatially adjacent pixel block in the preset direction of the boundary pixel block to be processed is an invalid pixel block, and the other adjacent pixels in the spatial domain are all valid pixel blocks, the invalid pixels in the boundary pixel block to be processed are pending.
  • the orientation information in the processing boundary pixel block is: invalid pixels in the processing boundary pixel block are located in a preset direction in the processing boundary pixel block; the preset directions include upper left, upper right, lower left, or lower right.
  • the type of the boundary pixel block to be processed corresponding to the orientation information may be referred to as type 9. If the preset direction is the lower left, the type of the boundary pixel block to be processed corresponding to the orientation information may be referred to as type 10. If the preset direction is the upper left, the type of the boundary pixel block to be processed corresponding to the orientation information may be referred to as type 11. If the preset direction is the lower right, the type of the boundary pixel block to be processed corresponding to the orientation information may be referred to as type 12.
  • each small square in FIG. 10 represents a pixel block, and a pixel block marked with a pentagram in the center represents a pixel block to be processed, a pixel block marked in black indicates an invalid pixel block, and a pixel block marked in white indicates a valid pixel block.
  • Pixel blocks, pixel blocks marked by oblique lines represent valid pixel blocks or invalid pixel blocks.
  • the discrimination mode diagram in the first row in the table shown in FIG. 10 indicates that when a pixel block directly above an adjacent pixel block in a spatial domain of a boundary pixel block to be processed is an invalid pixel block, and directly below, directly to the left
  • the type of the boundary pixel block to be processed is type 1.
  • the schematic diagram in this line indicates that the spatially adjacent pixel blocks of the boundary pixel block to be processed have the following characteristics: the pixel blocks directly above are invalid pixel blocks, and the pixel blocks directly below, left and right are valid pixel blocks ; And the top left, top right, bottom left, and bottom right pixel blocks are valid pixel blocks or invalid pixel blocks.
  • Other examples are similar, and are not listed here one by one.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include pixel blocks adjacent to the boundary pixel block to be processed and located at the upper left, upper right, lower left, and lower right of the boundary pixel block to be processed.
  • the spatially adjacent pixel block in the preset direction of the boundary pixel block to be processed is an invalid pixel block, and the other adjacent pixels in the spatial domain are all valid pixel blocks, the invalid pixels in the boundary pixel block to be processed are pending.
  • the orientation information in the processing boundary pixel block is: the invalid pixels in the processing boundary pixel block are located in a preset direction in the processing boundary pixel block; the preset direction includes one of upper left, upper right, lower left, and lower right or At least two.
  • p [i] in the following represents the i-th boundary pixel block in the occupied map of the point cloud to be decoded
  • the index is j.
  • the encoder and decoder both use the same method to process the boundary block to be processed.
  • the specific implementation method of the target preset position based on the type of the boundary pixel block to be processed may include:
  • FIG. 11 it is a schematic diagram of determining a pixel of a target preset position according to an embodiment of the present application.
  • the pixel at the target preset position may be the pixel number ⁇ 1 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be a pixel numbered ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , or ⁇ 1, 2, 3 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be the number in the to-be-processed boundary pixel block as ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , ⁇ 1, 2, 3 ⁇ , ⁇ 1, 2, 3, 4 ⁇ , ⁇ 1, 2, 3, 4, 5 ⁇ , ⁇ 1, 2, 3, 4, 5, 6 ⁇ or ⁇ 1, 2, 3, 4, 5, 6, 7 ⁇ .
  • the pixel at the target preset position may be the pixel with the number ⁇ 2 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be a pixel numbered ⁇ 4 ⁇ , ⁇ 3, 4 ⁇ , or ⁇ 2, 3, 4 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be the number in the boundary pixel block to be processed is ⁇ 7 ⁇ , ⁇ 6, 7 ⁇ , ⁇ 5, 6, 7 ⁇ , ⁇ 4, 5, 6, 7 ⁇ , ⁇ 3,4,5,6,7 ⁇ , ⁇ 2,3,4,5,6,7 ⁇ or ⁇ 1,2,3,4,5,6,7 ⁇ .
  • FIG. 12 it is a schematic diagram of determining a pixel of a target preset position according to an embodiment of the present application.
  • the pixel at the target preset position may be the pixel numbered ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , or ⁇ 1, 2, 3 ⁇ in the boundary pixel block to be processed.
  • the pixel at the position may be a pixel numbered ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , ⁇ 1, 2, 3 ⁇ ... or ⁇ 1, 2, 3 ... 6 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be a pixel with the number ⁇ 3 ⁇ , ⁇ 2, 3 ⁇ , or ⁇ 1, 2, 3 ⁇ in the boundary pixel block to be processed.
  • the pixel at the position may be a pixel numbered ⁇ 6 ⁇ , ⁇ 5,6 ⁇ , ⁇ 4,5,6 ⁇ ... or ⁇ 1, 2, 3 ... 6 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be the pixel numbered ⁇ 11 ⁇ , ⁇ 11,12 ⁇ , ⁇ 10,11,12 ⁇ , or ⁇ 1, 2, 3 ... 12 ⁇ in the boundary pixel block to be processed. .
  • FIG. 13 it is a schematic diagram of determining a pixel of a target preset position according to an embodiment of the present application.
  • the pixel at the target preset position may be the pixel numbered ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , or ⁇ 1, 2, 3 ⁇ in the boundary pixel block to be processed.
  • the pixels in the number are ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , ⁇ 1, 2, 3 ⁇ ... or ⁇ 1, 2, 3 ... 6 ⁇ pixels.
  • the pixel at the position may be a pixel numbered ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , ⁇ 1, 2, 3 ⁇ ... or ⁇ 1, 2, 3 ... 12 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be a pixel with the number ⁇ 3 ⁇ , ⁇ 2, 3 ⁇ , or ⁇ 1, 2, 3 ⁇ in the boundary pixel block to be processed.
  • the pixel at the position may be a pixel numbered ⁇ 6 ⁇ , ⁇ 5,6 ⁇ , ⁇ 4,5,6 ⁇ ... or ⁇ 1, 2, 3 ... 6 ⁇ in the boundary pixel block to be processed.
  • FIG. 14 it is a schematic diagram of determining a pixel of a target preset position according to an embodiment of the present application.
  • the pixel at the target preset position may be a pixel with the number ⁇ 2 ⁇ or ⁇ 1, 2 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be a pixel numbered ⁇ 4 ⁇ , ⁇ 3, 4 ⁇ , or ⁇ 1, 2 ... 4 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be the pixel numbered ⁇ 8 ⁇ , ⁇ 7, 8 ⁇ , or ⁇ 1, 2 ... 8 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be the pixel with the number ⁇ 1 ⁇ or ⁇ 1, 2 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be a pixel with the number ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , or ⁇ 1, 2 ... 4 ⁇ in the boundary pixel block to be processed.
  • the pixel at the target preset position may be a pixel numbered ⁇ 1 ⁇ , ⁇ 1, 2 ⁇ , or ⁇ 1, 2 ... 8 ⁇ in the boundary pixel block to be processed.
  • the above S102 may include the following steps S102A to S102C:
  • S102A Determine the processing method corresponding to the type of the boundary pixel block to be processed according to the mapping relationship between the multiple types of the boundary pixel block and the multiple processing methods.
  • S102B If the type of the boundary pixel block to be processed corresponds to one processing method, use the processing method corresponding to the type of the boundary pixel block to be processed as the target processing method; or, if the type of boundary pixel block to be processed corresponds to multiple processing methods, Then, one of the multiple processing modes corresponding to the type of the boundary pixel block to be processed is used as the target processing mode.
  • One processing method may correspond to one target preset position.
  • the target processing method is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel block.
  • the encoder and decoder can pre-define (such as pre-defined by the protocol) the mapping relationship between multiple types of boundary pixel blocks and multiple processing methods, for example, Mapping relationship between various types of identification information and identification information of multiple processing methods.
  • the embodiment of the present application does not limit the specific embodiment of the above mapping relationship.
  • the mapping relationship may be a table, a formula, or a logical judgment based on a condition (such as an if or a switch operation).
  • the following description mainly uses the specific embodiment of the mapping relationship as an example. Based on this, when S102 is performed, the decoder can obtain a processing mode corresponding to the type of the boundary pixel block to be processed by looking up the table.
  • the above mapping relationship is specifically embodied in one or more tables, which is not limited in the embodiment of the present application.
  • the embodiments of the present application take these tables as a specific example for description. It is unified here and will not be described in the following.
  • the above S102A may specifically include: looking up a table according to the type of the boundary pixel block to be processed, to obtain a processing method corresponding to the type of the boundary pixel block to be processed, the table including between multiple types of boundary pixel blocks and multiple processing methods Mapping relationship.
  • both the encoder and the decoder can obtain the target processing mode through the predefined mapping relationship. Therefore, in this case, the encoder does not need to send identification information indicating the target processing mode to the decoder, which can save code stream transmission overhead.
  • a processing method corresponding to the type may be: Set the pixel number ⁇ 1 ⁇ in the boundary pixel block to 0.
  • the encoder may select one processing mode from the multiple processing modes as the target processing mode. For example, according to the position of the pixel of the boundary pixel block to be processed in the pixel block before being filled with a pixel value of 0, a processing method is selected as a target processing method from a plurality of processing methods corresponding to the type of the boundary pixel block to be processed. For example, according to the description above, based on FIG.
  • the multiple processing methods corresponding to this type may be: the number in the boundary pixel block to be processed is ⁇ 1 ⁇
  • the pixel at is set to 0, and the pixel number ⁇ 1, 2 ⁇ in the boundary pixel block to be processed is set to 0.
  • the target processing method may be to set the pixel number ⁇ 1 ⁇ in the boundary pixel block to be processed to 0, or set the pixel number ⁇ 1, 2 ⁇ in the boundary pixel block to be processed to 0.
  • the target processing method corresponding to one of the multiple processing methods corresponding to the type of the boundary pixel block to be processed may include: according to the pixel value of the pixel block in the pixel block to be processed before being filled is 0. Position of the pixel, a processing method is selected as a target processing method from a plurality of processing methods corresponding to the type of the boundary pixel block to be processed. Wherein, the selected target processing method causes the most invalid pixels in the boundary pixel block to be processed to be set to zero.
  • this is a schematic diagram of a pixel block before filling in which two types of boundary pixel blocks to be processed (ie, invalid pixels are directly above the boundary pixel blocks to be processed) provided by the embodiment of the present application are filled.
  • the target processing method may be to set the number in the block of pending boundary pixels to ⁇ The pixels of 1 ⁇ are set to 0.
  • the target processing method may be to number the boundary pixel block to be processed. Set the pixels of ⁇ 1, 2 ⁇ to 0.
  • the size of the boundary pixel block to be processed is 4 * 4, for example. The principle of other examples is similar, and will not be repeated here.
  • the encoder may encode identification information into a code stream, where the identification information indicates a target processing method of the boundary pixel block to be processed.
  • the above S102 may include: analyzing the code stream according to the type of the boundary pixel block to be processed to obtain the identification information; and then presetting the target in the boundary pixel block to be processed by using a target processing method. The value of the pixel at the position is set to zero to obtain a zeroed pixel block.
  • the boundary pixel blocks can also be classified into other types.
  • a type with a higher probability of occurrence may be selected, or the encoding efficiency may be reduced after the zeroing processing provided in the embodiment of the present application is performed.
  • the type with a larger gain contribution performs the technical solution provided in the embodiment of the present application.
  • the technical solution provided in the embodiment of the present application may not be performed.
  • the type of the boundary pixel block to be processed (specifically, the type of the boundary pixel block that is encoded and decoded according to the technical solution provided by the embodiment of the present application, or the boundary pixels corresponding to multiple processing modes) Block type) to determine whether to parse the code stream.
  • the code stream here refers to a code stream carrying identification information of a target processing mode.
  • the encoder and the decoder are predefined: for various types of boundary pixel blocks shown in FIG. 10, encoding and decoding are performed according to the technical solution provided in the embodiment of the present application; then, for the decoder, when determining a When the type of the boundary pixel block to be processed is one of the types shown in FIG. 10, the code stream is parsed to obtain the target processing method corresponding to the type; when the type of the boundary pixel block to be processed is not shown in FIG. 10 When type, the stream is not parsed. In this way, it is not necessary to transmit each type of each boundary pixel block to be processed and the target processing method corresponding to each type in the code stream, so the code stream transmission overhead can be saved.
  • FIG. 16 it is a schematic diagram of a code stream structure according to an embodiment of the present application.
  • Each arrowed line in FIG. 16 indicates a correspondence between a boundary pixel block and identification information of a target processing mode of the boundary pixel block.
  • the numbers in FIG. 16 indicate the indices of the boundary pixel blocks.
  • the encoder can dynamically determine the target processing method corresponding to the type of the boundary pixel block to be processed, and then encode the relevant information of the target processing method into the code stream.
  • the decoder can obtain the Target processing.
  • the related information of the target processing mode may include: an index (such as a coordinate value, etc.) of a pixel to be zeroed.
  • FIG. 17 it is a schematic flowchart of a point cloud decoding method according to an embodiment of the present application.
  • the method may include:
  • S201 Perform a corrosive operation on pixel values in a filled occupancy map to be decoded to obtain a corroded occupancy map.
  • the etching operation may be an etching operation in computer vision.
  • the basic corrosion unit of the corrosion operation is less than or equal to the basic filling unit for performing the filling operation on the point cloud occupancy map to be decoded.
  • the etching operation will be described with the basic etching unit being one pixel as an example.
  • S201 may include: traversing each pixel p [x] [y] in the filled occupancy map P of the point cloud to be decoded, where x and y are X-axis and Y-axis coordinate values, respectively; x] [y] performs a convolution operation with kernel B to obtain an eroded (or filtered) pixel q [x] [y].
  • the formula indicates that q [x] [y] is the minimum value of each pixel in kernel B, and p [x + x '] [y + y'] is the pixel (x + x 'in kernel B , Y + y ').
  • the core B may be of any shape and size, and is generally square or circular. For details, refer to the prior art.
  • Core B generally defines an anchor point, which is generally the center point of core B.
  • the core B may be any one of FIG. 18. Among them, in FIG. 18, a white square represents a pixel with a pixel value of 0, a shaded square represents a pixel with a pixel value of 1, and a pixel block where a pentagram is located is an anchor point.
  • the core B in FIG. 18 is a 5 * 5 core B.
  • the pixel p [x] [y] in the map P can be taken, and a certain kernel B in FIG. 18 (specifically which can be predefined by the encoder and the decoder, of course, this application is implemented (The example is not limited to this.)
  • the anchor point is aligned with p [x] [y]. If the position shown by the shaded square in kernel B has at least one pixel in the neighborhood point corresponding to p [x] [y], the value is 0. , Then q [x] [y] takes the value 0, otherwise q [x] [y] takes the value 1.
  • the radius of the core B determines how many pixels are affected by the etching operation. The larger the radius of the core B, the more pixels are eroded; the smaller the radius of the core B, the fewer pixels are eroded.
  • the pixel values in the filled occupancy map of the point cloud to be decoded are etched through an erosion operation, thereby reconstructing the point cloud to be decoded.
  • the technical solution has fewer outlier points in the reconstructed point cloud, and therefore helps to improve the performance of encoding and decoding.
  • FIG. 19 it is a schematic flowchart of a point cloud encoding method according to an embodiment of the present application.
  • the execution subject of this embodiment may be an encoder.
  • the method may include:
  • the target encoding method includes any point cloud encoding method provided in the embodiment of the present application, and may be, for example, FIG. Or the point cloud decoding method shown in FIG. 17, and the decoding here specifically refers to encoding.
  • One of the at least two may be any one of the point cloud encoding methods provided in the embodiments of the present application, and the other may be the existing technology or a point provided in the future. Cloud coding method.
  • the indication information may specifically be an index of a target point cloud encoding / decoding method.
  • the encoder and decoder may pre-determine the indexes of at least two point cloud encoding / decoding methods supported by the encoder / decoder, and then, after the encoder determines the target encoding method, The index or the index of the decoding method corresponding to the target encoding method is coded into the code stream as the indication information.
  • This embodiment of the present application does not limit how the encoder determines whether the target encoding method is at least two encoding methods supported by the encoder.
  • S302 Program the instruction information into a code stream.
  • the indication information is frame-level information.
  • This embodiment provides a technical solution for selecting a target encoding method, and the technical solution can be applied to a scenario in which an encoder supports at least two point cloud encoding methods.
  • FIG. 20 it is a schematic flowchart of a point cloud decoding method according to an embodiment of the present application.
  • the execution subject of this embodiment may be a decoder.
  • the method may include:
  • the target decoding method includes any point cloud decoding method provided in the embodiment of the present application
  • the point cloud decoding method shown in FIG. 6 or FIG. 17 may be used, and the decoding here specifically refers to decoding.
  • the indication information is frame-level information.
  • the point cloud decoding method provided in this embodiment corresponds to the point cloud encoding method provided in FIG. 19.
  • the above indication information may be an identifier removeOutlier.
  • removeRelier is equal to 0. If it is determined to use the technical solution provided in the embodiment of the present application for encoding (specifically, removing outlier points), then removeRelier is equal to 1.
  • removeOutlier is equal to 1, then for any type of pixel block, if the corresponding processing method is only one, it is not necessary to write the identification information of the target processing method corresponding to the type into the code stream. For any type of pixel block, if there are multiple corresponding processing modes, the identification information of the target processing mode corresponding to the type needs to be written into the code stream.
  • the code stream is parsed to obtain the identifier removeOutlier. If removeOutlier is equal to 0, encoding is not performed using the technical solution provided in the embodiment of the present application (specifically, removing outlier points). If removeOutlier is equal to 1, use the technical solution provided in the embodiment of the present application for encoding (specifically, removing outlier points).
  • Table 1 The specific code stream format can be shown in Table 1:
  • W in Table 1 represents the width of the depth map of the point cloud
  • W / B0 represents the width of the occupation map of the point cloud
  • H indicates the height of the point cloud depth map
  • H / B0 indicates the height of the point cloud occupancy map.
  • u (1) indicates that the number of bits is 1
  • u (8) indicates that the number of bits is 8
  • the encoder / decoder may be divided into functional modules according to the foregoing method example.
  • each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module.
  • the above integrated modules may be implemented in the form of hardware or software functional modules. It should be noted that the division of the modules in the embodiments of the present application is schematic, and is only a logical function division. In actual implementation, there may be another division manner.
  • the decoder 170 may specifically be an encoder or a decoder.
  • the decoder 170 may include an occupation map filtering module 1701 and a point cloud reconstruction module 1702.
  • the decoder 170 is an encoder, it may specifically be the encoder 100 in FIG. 2.
  • the occupancy map filtering module 1701 may be the occupancy map filtering module 113
  • the point cloud reconstruction module 1702 may be a point cloud.
  • the decoder 170 is a decoder, it may specifically be the decoder 200 in FIG. 4.
  • the occupancy map filtering module 1701 may be the occupancy map filtering module 208 and the point cloud reconstruction module 1702 may be a point.
  • Cloud reconstruction module 205 it is a schematic block diagram of a decoder 170 according to an embodiment of the present application.
  • the decoder 170 may specifically be an encoder or a decoder.
  • the decoder 170 may include an occupation map filtering module 1701 and a point cloud reconstruction module 17
  • the occupancy map filtering module 1701 is configured to set a value of a pixel at a target preset position in a boundary pixel block to be processed in a filled occupancy map of a point cloud to be decoded to obtain a warped location. Zero pixel blocks.
  • the point cloud reconstruction module 1702 is configured to reconstruct a point cloud to be decoded according to the processed occupation map, and the processed occupation map includes zeroed pixel blocks.
  • the occupancy map filtering module 1701 may be used to execute S101 and S102, and the point cloud reconstruction module 1702 may be used to execute S103.
  • the occupancy map filtering module 1701 is specifically configured to: determine a type of a boundary pixel block to be processed in a filled occupancy map of a point cloud to be decoded; and use a corresponding In the target processing method, a value of a pixel at a target preset position in a boundary pixel block to be processed is set to zero to obtain a zero-set pixel block.
  • the occupancy map filtering module 1701 may be used to perform S101 and S102.
  • the occupancy map filtering module 1701 is specifically configured to: based on the spatial neighbors of the boundary pixel block to be processed Whether the pixel block is an invalid pixel block, and estimate the position information of the invalid pixels in the boundary pixel block to be processed in the boundary pixel block to be processed; or, based on whether the spatially adjacent pixel blocks of the pixel block before filling in the boundary pixel block to be processed are filled Is an invalid pixel block, and the position information of the invalid pixel in the boundary pixel block to be processed is estimated in the boundary pixel block to be processed.
  • different types of boundary pixel blocks correspond to different azimuth information.
  • the spatially adjacent pixel block of the preset orientation of the boundary pixel block to be processed is an invalid pixel block, it is estimated that the invalid pixels in the boundary pixel block to be processed are in the boundary pixel block to be processed.
  • a preset orientation wherein the preset orientation is one or a combination of at least two of directly above, directly below, directly left, directly right, upper left, upper right, lower left, and lower right.
  • the spatially adjacent pixel block of the preset orientation of the pixel block before the filling of the boundary pixel block to be processed is an invalid pixel block
  • the invalid pixels in the boundary pixel block to be processed are Process the preset orientation in the boundary pixel block; wherein the preset orientation is one or at least two of directly above, directly below, directly left, right, upper left, upper right, lower left, and lower right combination.
  • the target preset position is a position in the boundary pixel block to be processed, and the distance between the target effective pixel and the invalid pixel is greater than or equal to a preset threshold.
  • the target preset position is in the boundary pixel block to be processed, and the distance between the line where the target effective pixel is located is greater than or equal to the preset threshold, and the position of the invalid pixel; the type of the line and the boundary pixel block to be processed Related.
  • the corresponding target processing method is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel.
  • the occupancy map filtering module 1701 is specifically configured to determine the processing method corresponding to the type of the boundary pixel block to be processed according to the mapping relationship between the multiple types and processing methods of the boundary pixel block;
  • the type of the block corresponds to a processing method, and the processing method corresponding to the type of the boundary pixel block to be processed is taken as the target processing method; or, if the type of the boundary pixel block to be processed corresponds to multiple processing methods, the boundary pixel block to be processed is One of a plurality of processing modes corresponding to the type of processing is used as the target processing mode; the target processing mode is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero to obtain the zeroed pixel block.
  • the corresponding target processing method is used to set the value of the pixel at the target preset position in the boundary pixel block to be processed to zero, to obtain the zeroed value.
  • the occupancy map filtering module 1701 is specifically configured to: look up a table according to the type of the boundary pixel block to be processed, and obtain a processing method corresponding to the type of the boundary pixel block to be processed.
  • the table includes multiple types of boundary pixel blocks and Mapping relationship between multiple processing methods; if the type of the boundary pixel block to be processed corresponds to one processing method, the processing method corresponding to the type of the boundary pixel block to be processed is taken as the target processing method; or, if the boundary pixel block to be processed is the target processing method;
  • the type corresponds to multiple processing methods, and one of the multiple processing methods corresponding to the type of the boundary pixel block to be processed is used as the target processing method; the target processing method is used to preset the target position in the boundary pixel block to be processed.
  • the value of the pixel of is set to zero to obtain a zeroed pixel block.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include: adjacent to the boundary pixel block to be processed and located directly above, directly below, directly to the left and right of the boundary pixel block to be processed Pixel block.
  • the following provides a specific implementation of the orientation information of the invalid pixel in the boundary pixel block to be processed:
  • the invalid pixels in the boundary pixel block to be processed are in the boundary pixel block to be processed.
  • the orientation information in is: the invalid pixels in the boundary pixel block to be processed are located in a preset direction in the boundary pixel block to be processed; the preset direction includes one or more of directly above, directly below, directly left, and right A combination of the two.
  • the The orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the upper right of the boundary pixel block to be processed.
  • the The orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the lower left of the boundary pixel block to be processed.
  • the The orientation information of the invalid pixel in the boundary pixel block to be processed is: the invalid pixel in the boundary pixel block to be processed is located at the upper left of the boundary pixel block to be processed.
  • the The orientation information of the invalid pixel in the to-be-processed boundary pixel block is: the invalid pixel in the to-be-processed boundary pixel block is located at the lower right of the to-be-processed boundary pixel block.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include those adjacent to the boundary pixel block to be processed and located at the upper left, upper right, lower left, and lower right of the boundary pixel block to be processed. Pixel blocks.
  • the spatially adjacent pixel block in the preset direction of the boundary pixel block to be processed is an invalid pixel block, and the other adjacent pixels in the spatial domain are all valid pixel blocks, the invalid pixels in the boundary pixel block to be processed are pending.
  • the orientation information in the processing boundary pixel block is: the invalid pixels in the processing boundary pixel block are located in a preset direction in the processing boundary pixel block; the preset direction includes one of upper left, upper right, lower left, and lower right or At least two.
  • the spatially adjacent pixel blocks of the boundary pixel block to be processed include: adjacent to the boundary pixel block to be processed and located directly above, directly below, directly to the left, and Pixel blocks to the right, top left, top right, bottom left, and bottom right.
  • the orientation information is: The invalid pixels are located in a preset direction in the boundary pixel block to be processed; the preset directions include upper left, upper right, lower left, or lower right.
  • the boundary pixel block to be processed is a basic filling unit for performing filling of the occupancy map of the point cloud to be decoded.
  • the decoder 170 is an encoder
  • the point cloud to be decoded is a point cloud to be encoded
  • the types of boundary pixel blocks to be processed correspond to multiple processing modes.
  • the encoder further includes an auxiliary information encoding module 1703, configured to encode identification information into a code stream, where the identification information indicates a target processing mode of a boundary pixel block to be processed.
  • the auxiliary information encoding module 1703 may specifically be the auxiliary information encoding module 108.
  • the decoder 170 is an encoder, and the point cloud to be decoded is a point cloud to be encoded.
  • the type of the boundary pixel block to be processed corresponds to multiple processing methods, The type corresponds to one of a variety of processing methods.
  • the occupancy map filtering module 1701 is specifically configured to: according to the pixels whose pixel values in the pixel blocks before the boundary pixel blocks to be processed are 0 are filled, Position, and select a processing method as a target processing method from a plurality of processing methods corresponding to the type of the boundary pixel block to be processed.
  • the decoder 170 is a decoder
  • the point cloud to be decoded is a point cloud to be decoded
  • the types of boundary pixel blocks to be processed correspond to multiple processing modes.
  • the decoder further includes an auxiliary information decoding module 1704, configured to parse the code stream according to the type of the boundary pixel block to be processed to obtain identification information of the target processing mode; identification information of the target processing mode Used to indicate the target processing method.
  • the value of the pixel at the target preset position in the boundary pixel block to be processed is set to zero to obtain the zeroed pixel block.
  • the occupancy map filtering module 1701 is specifically configured to use the target processing indicated by the identification information. In a manner, the value of a pixel at a target preset position in the boundary pixel block to be processed is set to zero to obtain a zeroed pixel block.
  • the boundary pixel block to be processed is a boundary pixel block of a filled occupancy map of a point cloud to be decoded; or the boundary pixel block to be processed is a filled occupancy map of a point cloud to be decoded
  • the patch occupies the bounding pixel block of the graph.
  • the occupancy map filtering module 1701 is configured to perform an erosion operation on pixel values in a filled occupancy map of a point cloud to be decoded to obtain a corroded occupancy map.
  • the point cloud reconstruction module 1702 is configured to reconstruct a point cloud to be decoded according to the corroded occupation map.
  • the occupancy map filtering module 1701 may be used to execute S201, and the point cloud reconstruction module 1702 may be used to execute S202.
  • the basic erosion unit of the etching operation is less than or equal to the basic filling unit for performing the filling operation on the point cloud occupancy map to be decoded.
  • the encoder 180 may include an auxiliary information encoding module 1801.
  • the encoder 180 may be the encoder 100 in FIG. 2.
  • the auxiliary information encoding module 1801 may be the auxiliary information encoding module 108.
  • the auxiliary information encoding module 1801 is configured to determine instruction information, and encode the instruction information into a code stream.
  • the instruction information is used to indicate whether to process the occupancy map of the encoded point cloud according to the target encoding method; the target encoding method includes any one of the point cloud decoding methods provided above (specifically, the point cloud encoding method), as shown in FIG. 6 or The point cloud decoding method shown in FIG. 17.
  • the encoder 180 further includes an occupancy map filtering module 1802 and a point cloud reconstruction module 1803, for processing the occupancy map of the coded point cloud according to the target encoding method.
  • the steps performed by the occupancy map filtering module 1802 can refer to the steps performed by the above occupancy map filtering module 1701, and the steps performed by the point cloud reconstruction module 1803 can refer to the steps performed by the above point cloud reconstruction module 1702, here No longer.
  • the decoder 190 may include an auxiliary information decoding module 1901, an occupancy map filtering module 1902, and a point cloud reconstruction module 1903.
  • the auxiliary information decoding module 1901 is configured to parse the bitstream to obtain instruction information, and the instruction information is used to indicate whether to process the occupancy map of the decoded point cloud according to the target decoding method; the target decoding method includes any of the above-mentioned methods.
  • the point cloud decoding method (specifically, the point cloud decoding method) is shown in FIG. 6 or FIG. 17.
  • the occupancy map filtering module 1902 and the point cloud reconstruction module 1903 are configured to process the occupancy map of the point cloud to be decoded according to the target decoding method when the instruction information is used to instruct the occupancy map of the point cloud to be decoded according to the target decoding method.
  • the steps performed by the occupancy map filtering module 1902 and the point cloud reconstruction module 1903 can refer to the steps performed by the occupancy map filtering module 1701 and the point cloud reconstruction module 1702, respectively, and details are not described herein again.
  • each module in the decoder 170, the encoder 180, or the decoder 190 provided in the embodiment of the present application is a functional body that implements various execution steps included in the corresponding methods provided above, that is, has the implementation
  • the functions of the steps in the image filtering method of the present application and the expansion and deformation of these steps please refer to the introduction of the corresponding methods above. For the sake of brevity, this article will not repeat them.
  • FIG. 25 is a schematic block diagram of an implementation manner of an encoding device or a decoding device (referred to as a decoding device 210) used in an embodiment of the present application.
  • the decoding device 210 may include a processor 2110, a memory 2130, and a bus system 2150.
  • the processor 2110 and the memory 2130 are connected through a bus system 2150.
  • the memory 2130 is configured to store instructions.
  • the processor 2110 is configured to execute instructions stored in the memory 2130 to perform various point cloud decoding methods described in this application. To avoid repetition, it will not be described in detail here.
  • the processor 2110 may be a central processing unit (CPU), and the processor 2110 may also be another general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate. Or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 2130 may include a ROM device or a RAM device. Any other suitable type of storage device may also be used as the memory 2130.
  • the memory 2130 may include code and data 2131 accessed by the processor 2110 using the bus 2150.
  • the memory 2130 may further include an operating system 2133 and an application program 2135, which includes a processor 2110 that allows the processor 2110 to perform the video encoding or decoding method described in this application (especially the current pixel block based on the block size of the current pixel block described in the present application. At least one program of a method of performing filtering).
  • the application program 2135 may include applications 1 to N, which further includes a video encoding or decoding application (referred to as a video decoding application) that executes the video encoding or decoding method described in this application.
  • the bus system 2150 may include a data bus, a power bus, a control bus, a status signal bus, and the like. However, for the sake of clarity, various buses are marked as the bus system 2150 in the figure.
  • the decoding device 210 may further include one or more output devices, such as a display 2170.
  • the display 2170 may be a tactile display that incorporates the display with a tactile unit operatively sensing a touch input.
  • the display 2170 may be connected to the processor 2110 via a bus 2150.
  • Computer-readable media may include computer-readable storage media, which corresponds to tangible media, such as data storage media, or communication media including any medium that facilitates transfer of a computer program from one place to another (e.g., according to a communication protocol) .
  • computer-readable media generally may correspond to non-transitory, tangible computer-readable storage media, or communication media such as signals or carrier waves.
  • a data storage medium may be any available medium that can be accessed by one or more computers or one or more processors to retrieve instructions, code, and / or data structures used to implement the techniques described in this application.
  • the computer program product may include a computer-readable medium.
  • such computer-readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, flash memory, or may be used to store instructions or data structures Any form of desired program code and any other medium accessible by a computer.
  • any connection is properly termed a computer-readable medium.
  • a coaxial cable is used to transmit instructions from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave. Wire, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are included in the definition of media.
  • the computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other temporary media, but are instead directed to non-transitory tangible storage media.
  • magnetic and optical discs include compact discs (CDs), laser discs, optical discs, DVDs, and Blu-ray discs, where magnetic discs typically reproduce data magnetically and optical discs use lasers to reproduce data optically. Combinations of the above should also be included within the scope of computer-readable media.
  • DSPs digital signal processors
  • ASICs application specific integrated circuits
  • FPGAs field programmable logic arrays
  • the term "processor” as used herein may refer to any of the aforementioned structures or any other structure suitable for implementing the techniques described herein.
  • the functions described by the various illustrative logical blocks, modules, and steps described herein may be provided within dedicated hardware and / or software modules configured for encoding and decoding, or Into the combined codec.
  • the techniques can be fully implemented in one or more circuits or logic elements.
  • various illustrative logical blocks, units, and modules in the encoder 100 and the decoder 200 can be understood as corresponding circuit devices or logic elements.
  • the techniques of this application may be implemented in a wide variety of devices or devices, including a wireless handset, an integrated circuit (IC), or a group of ICs (eg, a chipset).
  • IC integrated circuit
  • Various components, modules, or units are described in this application to emphasize functional aspects of the apparatus for performing the disclosed techniques, but do not necessarily need to be implemented by different hardware units.
  • the various units may be combined in a codec hardware unit in combination with suitable software and / or firmware, or through interoperable hardware units (including one or more processors as described above) provide.

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Abstract

本申请公开了点云编解码方法和编解码器，涉及编解码技术领域，有助于提高编解码性能。点云译码方法(包括点云编码方法或点云解码方法)包括：将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块；根据经处理过的占用图，重构待译码点云，该经处理过的占用图包括该经置零的像素块。

Description

点云编解码方法和编解码器
本申请要求于2018年09月26日提交国家知识产权局、申请号为201811126982.3、申请名称为“点云编解码方法和编解码器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及编解码技术领域，尤其涉及点云(point cloud)编解码方法和编解码器。
背景技术
随着3d传感器(例如3d扫描仪)技术的不断发展，采集点云数据越来越便捷，所采集的点云数据的规模也越来越大，因此，如何有效地对点云数据进行编解码，成为迫切需要解决的问题。
发明内容
本申请实施例提供了点云编解码方法和编解码器，有助于提高编解码性能。
第一方面，提供了一种点云译码方法，包括：将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块；根据经处理过的占用图，重构待译码点云，该经处理过的占用图包括该经置零的像素块。
如果不加说明，第一方面或第一方面的任意一种可能的设计中的“译码”均可以替换为编码，该情况下，执行主体可以是编码器，待译码点云可以是待编码点云。或者“译码”可以替换为解码，该情况下，执行主体可以是解码器，待译码点云可以是待解码点云。换言之，从编码的角度来看，本申请实施例的点云译码方法是点云编码方法，该情况下，执行主体可以是编码器，待译码点云可以是待编码点云；从解码的角度来看，本申请实施例的点云译码方法是点云解码方法，该情况下，执行主体可以是解码器，待译码点云可以是待解码点云。
需要说明的是，如果点云译码方法是点云解码方法，则待译码点云经填充的占用图具体是待解码点云经填充的占用图。解码器所接收到的待解码点云的占用图是编码器对待编码点云的占用图进行填充后得到的经填充的占用图，也就是说，解码器所接收到的待解码点云的占用图即是待解码点云经填充的占用图。
可选的，目标预设位置是该待处理边界像素块中的，且与目标有效像素之间的距离大于或等于预设阈值的无效像素所在的位置；或者，目标预设位置是该待处理边界像素块中的，且与目标有效像素所在的直线(line)之间的距离大于或等于预设阈值的无效像素所在的位置。其中，目标有效像素所在的直线与待处理边界像素块的类型相关，具体示例可以参考下文。其中，目标有效像素，是指译码器估计得到的最有可能是有效像素的像素。无效像素，是指待处理边界像素块中的填充之前像素值为0的像素。有效像素，是指待处理边界像素块中的填充之前像素值为1的像素。需要说明的是，本申请实施例中所描述的目标有效像素所在的直线可以替换为目标有效像素所在的线条。
本技术方案中，将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，并根据经处理过的占用图重构该待译码点云，该经处理过的占用图包括经置零的像素块。换句话说，该点云译码方法在重构待译码点云之前执行了对待译码点云经填充的占用图的滤波(或平滑处理)。这样，通过合理设置目标预设位置，有助于将经填充的占用图中的像素值为1的无效像素置零，相比直接采用经填充的占用图重构待译码点云的方案，本技术方案经重构的点云中的outlier点较少，因此，有助于提高编解码性能。
在一种可能的设计中，将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块，包括：确定待译码点云经填充的占用图中的待处理边界像素块的类型；根据待处理边界像素块的类型，采用对应的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
在一种可能的设计中，确定待译码点云的占用图中的待处理边界像素块的类型，包括：基于待处理边界像素块的空域相邻像素块是否是无效像素块，估计待处理边界像素块中的无效像素在待处理边界像素块中的方位信息；或者，基于待处理边界像素块在填充前的像素块的空域相邻像素块是否是无效像素块，估计待处理边界像素块中的无效像素在待处理边界像素块中的方位信息。不同类型的边界像素块对应无效像素在边界像素块中不同的方位信息。
其中，无效像素块是指所包含的像素的值全为0的像素块。有效像素块是指所包含的至少一个像素的值为1的像素块。有效像素块包括边界像素块和非边界像素块。
待处理边界像素块的空域相邻像素块包括与该像素块相邻的，且位于该像素块的正上方、正下方、正左方、正右方、左上方、左下方、右上方和右下方的一个或多个像素块。
在一种可能的设计中，根据待处理边界像素块的类型，采用对应的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块，包括：根据边界像素块的多种类型与多种处理方式之间的映射关系，确定待处理边界像素块的类型对应的处理方式；若待处理边界像素块的类型对应一种处理方式，则将待处理边界像素块的类型对应的处理方式作为目标处理方式；或者，若待处理边界像素块的类型对应多种处理方式，则将待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为目标处理方式；采用目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。该可能的设计中的映射关系可以是预定义的。
在一种可能的设计中，根据待处理边界像素块的类型，采用对应的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块，包括：根据待处理边界像素块的类型查表，得到待处理边界像素块的类型对应的处理方式，该表包括边界像素块的多种类型与多种处理方式之间的映射关系；若待处理边界像素块的类型对应一种处理方式，则将待处理边界像素块的类型对应的处理方式作为目标处理方式；或者，若待处理边界像素块的类型对应多种处理方式，则将待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为目标处理方式；采用目标处 理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
在一种可能的设计中，待译码点云是待编码点云，待处理边界像素块的类型对应多种处理方式；该方法还包括：将标识信息编入码流，标识信息表示待处理边界像素块的目标处理方式。一种类型对应多种处理方式的技术方案，处理方式多样化，因此有助于提高编解码效率。标识信息具体可以是目标处理方式的索引。该标识信息是帧级别的信息。
在一种可能的设计中，待译码点云是待编码点云，若待处理边界像素块的类型对应多种处理方式，将待处理边界像素块的类型对应多种的处理方式的其中一种处理方式作为目标处理方式，包括：根据待处理边界像素块在填充之前的像素块中的像素值为0的像素的位置，从待处理边界像素块的类型对应的多种处理方式中选择一种处理方式作为目标处理方式。这样，有助于使得重建得到的点云中的outlier点较少，从而提高编解码效率。
在一种可能的设计中，待译码点云是待解码点云，若待处理边界像素块的类型对应多种处理方式，根据待处理边界像素块的类型，采用对应的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块，包括：根据待处理边界像素块的类型，解析码流，以得到标识信息；该标识信息用于表示目标处理方式；采用目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
在一种可能的设计中，如果待处理边界像素块的预设方位的空域相邻像素块是无效像素块，则估计得到待处理边界像素块中的无效像素在待处理边界像素块中的预设方位；其中，预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的其中一种或者至少两种的组合。
在一种可能的设计中，如果待处理边界像素块在填充前的像素块的预设方位的空域相邻像素块是无效像素块，则估计得到待处理边界像素块中的无效像素在待处理边界像素块中的预设方位；其中，预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的其中一种或者至少两种的组合。
在一种可能的设计中，待处理边界像素块的空域相邻像素块包括：与待处理边界像素块相邻且位于待处理边界像素块的正上方、正下方、正左方和正右方的像素块。该情况下：
若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的预设方向；预设方向包括正上方、正下方、正左方和正右方中的其中一种或至少两种的组合。
或者，若待处理边界像素块的正上方和正右方的像素块为无效像素块，且待处理边界像素块的正下方和正左方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的右上方。
或者，若待处理边界像素块的正下方和正左方的像素块为无效像素块，且待处理边界像素块的正上方和正右方的像素块是有效像素块，则待处理边界像素块中的无效 像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的左下方。
或者，若待处理边界像素块的正上方和正左方的像素块为无效像素块，且待处理边界像素块的正下方和正右方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的左上方。
或者，若待处理边界像素块的正下方和正右方的像素块为无效像素块，且待处理边界像素块的正上方和正左方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的右下方。
在一种可能的设计中，待处理边界像素块的空域相邻像素块包括与待处理边界像素块相邻的且位于待处理边界像素块的左上方、右上方、左下方和右下方的像素块。该情况下，若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的预设方向；预设方向包括左上方、右上方、左下方和右下方其中一种或至少两种。
在一种可能的设计中，待处理边界像素块的空域相邻像素块包括：与待处理边界像素块相邻的且位于待处理边界像素块的正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方的像素块。该情况下，若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的预设方向；预设方向包括左上方、右上方、左下方或右下方。
在一种可能的设计中，待处理边界像素块是对待译码点云的占用图执行填充的基本填充单位。由于填充导致重构的点云中包含outlier点，因此，以基本填充单位作为待处理边界像素块的基本单位，有助于减少重构的点云中包含outlier点，从而有助于提高编解码性能。
在一种可能的设计中，待处理边界像素块是待译码点云经填充的占用图的边界像素块；或者，待处理边界像素块是待译码点云经填充的占用图中的patch的占用图的边界像素块。
第二方面，提供了一种点云译码方法，包括：对待译码点云经填充的占用图中的像素值执行腐蚀操作，得到经腐蚀的占用图。根据经腐蚀的占用图，重构待译码点云。本技术方案，通过腐蚀操作实现对待译码点云经填充的占用图中的像素值执行腐蚀，从而重构待译码点云。这样，相比直接采用经填充的占用图重构待译码点云的方案，本技术方案经重构的点云中的outlier点较少，因此，有助于提高编解码性能。
在一种可能的设计中，腐蚀操作的基本腐蚀单位小于或等于对待译码点云占用图执行填充操作的基本填充单位。例如，基本腐蚀单位可以是一个像素。
第三方面，提供了一种点云编码方法，包括：确定指示信息，该指示信息用于指示是否按照目标编码方法对待编码点云的占用图进行处理；目标编码方法包括如上述第一方面或第二方面提供的任一种点云译码方法(具体是点云编码方法)；将该指示 信息编入码流。
第四方面，提供了一种点云解码方法，包括：解析码流，以得到指示信息，该指示信息用于指示是否按照目标解码方法对待解码点云的占用图进行处理；目标解码方法包括上述第一方面或第二方面提供的任一种点云译码方法(具体是点云解码方法)；当该指示信息用于指示按照目标解码方法对待解码点云的占用图进行处理时，按照目标解码方法对待解码点云的占用图进行处理。
第五方面，提供了一种译码器，包括：占用图滤波模块，用于将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块；点云重构模块，用于根据经处理过的占用图，重构待译码点云，该经处理过的占用图包括该经置零的像素块。
第六方面，提供了一种译码器，包括：占用图滤波模块，用于对待译码点云经填充的占用图中的像素值执行腐蚀操作，得到经腐蚀的占用图。点云重构模块，用于根据经腐蚀的占用图，重构待译码点云。
第七方面，提供了一种编码器，包括：辅助信息编码模块，用于确定指示信息，以及将该指示信息编入码流；该指示信息用于指示是否按照目标编码方法对待编码点云的占用图进行处理；目标编码方法包括上述第一方面及其可能的设计，或第二方面及其可能的设计提供的任一种点云译码方法(具体是点云编码方法)。
第八方面，提供了一种解码器，包括：辅助信息解码模块，用于解析码流，以得到指示信息，该指示信息用于指示是否按照目标解码方法对待解码点云的占用图进行处理；目标解码方法包括上述第一方面及其可能的设计，或第二方面及其可能的设计提供的任一种点云译码方法(具体是点云解码方法)。占用图滤波模块，用于当该指示信息用于指示按照目标解码方法对待解码点云的占用图进行处理时，按照目标解码方法对待解码点云的占用图进行处理。
第九方面，提供一种译码装置，包括：存储器和处理器；其中，该存储器用于存储程序代码；该处理器用于调用该程序代码，以执行上述第一方面及其可能的设计，或第二方面及其可能的设计提供的任一种点云译码方法。
第十方面，提供一种编码装置，包括：存储器和处理器；其中，该存储器用于存储程序代码；该处理器用于调用该程序代码，以执行上述第三方面提供的点云编码方法。
第十一方面，提供一种解码装置，包括：存储器和处理器；其中，该存储器用于存储程序代码；该处理器用于调用该程序代码，以执行上述第四方面提供的点云编码方法。
本申请还提供一种计算机可读存储介质，包括程序代码，该程序代码在计算机上运行时，使得该计算机执行如上述第一方面及其可能的设计，或第二方面及其可能的设计提供的任一种点云译码方法。
本申请还提供一种计算机可读存储介质，包括程序代码，该程序代码在计算机上运行时，使得该计算机执行上述第三方面提供的点云编码方法。
本申请还提供一种计算机可读存储介质，包括程序代码，该程序代码在计算机上运行时，使得该计算机执行上述第四方面提供的点云编码方法。
应当理解的是，上述提供的任一种编解码器、处理装置、编解码装置和计算机可读存储介质的有益效果均可以对应参考上文对应方面提供的方法实施例的有益效果，不再赘述。
附图说明
图1为可用于本申请实施例的一种实例的点云译码系统的示意性框图；
图2为可用于本申请实施例的一种实例的编码器的示意性框图；
图3为可适用于本申请实施例的一种点云、点云的patch以及点云的占用图的示意图；
图4为可用于本申请实施例的一种实例的解码器的示意性框图；
图5为可适用于本申请实施例的一种点云的占用图填充前后的对比示意图；
图6为本申请实施例提供的一种点云译码方法的流程示意图；
图7为本申请实施例提供的一种目标预设位置的示意图；
图8为本申请实施例提供的另一种目标预设位置的示意图；
图9为本申请实施例提供的另一种目标预设位置的示意图；
图10为本申请实施例提供的像素块的类型的索引、判别方式图、示意图以及描述信息的对应关系的示意图；
图11为本申请实施例提供的一种确定目标预设位置的像素的示意图；
图12为本申请实施例提供的另一种确定目标预设位置的像素的示意图；
图13为本申请实施例提供的另一种确定目标预设位置的像素的示意图；
图14为本申请实施例提供的另一种确定目标预设位置的像素的示意图；
图15为本申请实施例提供的两种类型为1的待处理边界像素块在填充之前的像素块的示意图；
图16为本申请实施例提供的一种码流结构的示意图；
图17为本申请实施例提供的另一种点云译码方法的流程示意图；
图18为可适用于本申请一实施例的几种核B的示意图；
图19为本申请实施例提供的一种点云编码方法的流程示意图；
图20为本申请实施例提供的一种点云解码方法的流程示意图；
图21为本申请实施例提供的一种译码器的示意性框图；
图22A为本申请实施例提供的另一种译码器的示意性框图；
图22B为本申请实施例提供的另一种译码器的示意性框图；
图23为本申请实施例提供的一种编码器的示意性框图；
图24为本申请实施例提供的一种解码器的示意性框图；
图25为用于本申请实施例的译码设备的一种实现方式的示意性框图。
具体实施方式
本申请实施例中的术语“至少一个(种)”包括一个(种)或多个(种)。“多个(种)”是指两个(种)或两个(种)以上。例如，A、B和C中的至少一种，包括：单独存在A、单独存在B、同时存在A和B、同时存在A和C、同时存在B和C，以及同时存在A、B和C。在本申请的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”仅仅是一种描述关联对象的关联关系，表示可以存 在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。“多个”是指两个或多于两个。另外，为了便于清楚描述本申请实施例的技术方案，在本申请的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分。本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定，并且“第一”、“第二”等字样也并不限定一定不同。
图1为可用于本申请实施例的一种实例的点云译码系统1的示意性框图。术语“点云译码”或“译码”可一般地指代点云编码或点云解码。点云译码系统1的编码器100可以根据本申请提出的任一种点云编码方法对待编码点云进行编码。点云译码系统1的解码器200可以根据本申请提出的与编码器使用的点云编码方法相对应的点云解码方法对待解码点云进行解码。
如图1所示，点云译码系统1包含源装置10和目的地装置20。源装置10产生经编码点云数据。因此，源装置10可被称为点云编码装置。目的地装置20可对由源装置10所产生的经编码的点云数据进行解码。因此，目的地装置20可被称为点云解码装置。源装置10、目的地装置20或两个的各种实施方案可包含一或多个处理器以及耦合到所述一或多个处理器的存储器。所述存储器可包含但不限于随机存取存储器(random access memory，RAM)、只读存储器(read-only memory，ROM)、带电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、快闪存储器或可用于以可由计算机存取的指令或数据结构的形式存储所要的程序代码的任何其它媒体，如本文所描述。
源装置10和目的地装置20可以包括各种装置，包含桌上型计算机、移动计算装置、笔记型(例如，膝上型)计算机、平板计算机、机顶盒、例如所谓的“智能”电话等电话手持机、电视机、相机、显示装置、数字媒体播放器、视频游戏控制台、车载计算机或其类似者。
目的地装置20可经由链路30从源装置10接收经编码点云数据。链路30可包括能够将经编码点云数据从源装置10移动到目的地装置20的一或多个媒体或装置。在一个实例中，链路30可包括使得源装置10能够实时将经编码点云数据直接发送到目的地装置20的一或多个通信媒体。在此实例中，源装置10可根据通信标准(例如无线通信协议)来调制经编码点云数据，且可将经调制的点云数据发送到目的地装置20。所述一或多个通信媒体可包含无线和/或有线通信媒体，例如射频(radio frequency，RF)频谱或一或多个物理传输线。所述一或多个通信媒体可形成基于分组的网络的一部分，基于分组的网络例如为局域网、广域网或全球网络(例如，因特网)。所述一或多个通信媒体可包含路由器、交换器、基站或促进从源装置10到目的地装置20的通信的其它设备。
在另一实例中，可将经编码数据从输出接口140输出到存储装置40。类似地，可通过输入接口240从存储装置40存取经编码点云数据。存储装置40可包含多种分布式或本地存取的数据存储媒体中的任一者，例如硬盘驱动器、蓝光光盘、数字多功能光盘(digital versatile disc，DVD)、只读光盘(compact disc read-only memory，CD-ROM)、快闪存储器、易失性或非易失性存储器，或用于存储经编码点云数据的任何其它合适的数字存储媒体。
在另一实例中，存储装置40可对应于文件服务器或可保持由源装置10产生的经编码点云数据的另一中间存储装置。目的地装置20可经由流式传输或下载从存储装置40存取所存储的点云数据。文件服务器可为任何类型的能够存储经编码的点云数据并且将经编码的点云数据发送到目的地装置20的服务器。实例文件服务器包含网络服务器(例如，用于网站)、文件传输协议(file transfer protocol，FTP)服务器、网络附属存储(network attached storage，NAS)装置或本地磁盘驱动器。目的地装置20可通过任何标准数据连接(包含因特网连接)来存取经编码点云数据。这可包含无线信道(例如，Wi-Fi连接)、有线连接(例如，数字用户线路(digital subscriber line，DSL)、电缆调制解调器等)，或适合于存取存储在文件服务器上的经编码点云数据的两者的组合。经编码点云数据从存储装置40的传输可为流式传输、下载传输或两者的组合。
图1中所说明的点云译码系统1仅为实例，并且本申请的技术可适用于未必包含点云编码装置与点云解码装置之间的任何数据通信的点云译码(例如，点云编码或点云解码)装置。在其它实例中，数据从本地存储器检索、在网络上流式传输等等。点云编码装置可对数据进行编码并且将数据存储到存储器，和/或点云解码装置可从存储器检索数据并且对数据进行解码。在许多实例中，由并不彼此通信而是仅编码数据到存储器和/或从存储器检索数据且解码数据的装置执行编码和解码。
在图1的实例中，源装置10包含数据源120、编码器100和输出接口140。在一些实例中，输出接口140可包含调节器/解调器(调制解调器)和/或发送器(或称为发射器)。数据源120可包括点云捕获装置(例如，摄像机)、含有先前捕获的点云数据的点云存档、用以从点云内容提供者接收点云数据的点云馈入接口，和/或用于产生点云数据的计算机图形系统，或点云数据的这些来源的组合。
编码器100可对来自数据源120的点云数据进行编码。在一些实例中，源装置10经由输出接口140将经编码点云数据直接发送到目的地装置20。在其它实例中，经编码点云数据还可存储到存储装置40上，供目的地装置20以后存取来用于解码和/或播放。
在图1的实例中，目的地装置20包含输入接口240、解码器200和显示装置220。在一些实例中，输入接口240包含接收器和/或调制解调器。输入接口240可经由链路30和/或从存储装置40接收经编码点云数据。显示装置220可与目的地装置20集成或可在目的地装置20外部。一般来说，显示装置220显示经解码点云数据。显示装置220可包括多种显示装置，例如，液晶显示器(liquid crystal display，LCD)、等离子显示器、有机发光二极管(organic light-emitting diode，OLED)显示器或其它类型的显示装置。
尽管图1中未图示，但在一些方面，编码器100和解码器200可各自与音频编码器和解码器集成，且可包含适当的多路复用器-多路分用器(multiplexer-demultiplexer，MUX-DEMUX)单元或其它硬件和软件，以处置共同数据流或单独数据流中的音频和视频两者的编码。在一些实例中，如果适用的话，那么MUX-DEMUX单元可符合ITU H.223多路复用器协议，或例如用户数据报协议(user datagram protocol，UDP)等其它协议。
编码器100和解码器200各自可实施为例如以下各项的多种电路中的任一者：一 或多个微处理器、数字信号处理器(digital signal processing，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field-programmable gate array，FPGA)、离散逻辑、硬件或其任何组合。如果部分地以软件来实施本申请，那么装置可将用于软件的指令存储在合适的非易失性计算机可读存储媒体中，且可使用一或多个处理器在硬件中执行所述指令从而实施本申请技术。前述内容(包含硬件、软件、硬件与软件的组合等)中的任一者可被视为一或多个处理器。编码器100和解码器200中的每一者可包含在一或多个编码器或解码器中，所述编码器或解码器中的任一者可集成为相应装置中的组合编码器/解码器(编码解码器)的一部分。
本申请可大体上将编码器100称为将某些信息“发信号通知”或“发送”到例如解码器200的另一装置。术语“发信号通知”或“发送”可大体上指代用以对经压缩点云数据进行解码的语法元素和/或其它数据的传送。此传送可实时或几乎实时地发生。替代地，此通信可经过一段时间后发生，例如可在编码时在经编码位流中将语法元素存储到计算机可读存储媒体时发生，解码装置接着可在所述语法元素存储到此媒体之后的任何时间检索所述语法元素。
如图2所示，为可用于本申请实施例的一种实例的编码器100的示意性框图。图2是以MPEG(Moving Picture Expert Group)点云压缩(Point Cloud Compression，PCC)编码框架为例进行说明的。在图2的实例中，编码器100可以包括patch信息生成模块101、打包模块102、深度图生成模块103、纹理图生成模块104、第一填充模块105、基于图像或视频的编码模块106、占用图编码模块107、辅助信息编码模块108和复用模块109等。另外，编码器100还可以包括点云滤波模块110、第二填充模块111和点云重构模块112等。其中：
patch信息生成模块101，用于采用某种方法将一帧点云分割产生多个patch，以及获得所生成的patch的相关信息等。其中，patch是指一帧点云中部分点构成的集合，通常一个连通区域对应一个patch。patch的相关信息可以包括但不限于以下信息中的至少一项：点云所分成的patch的个数、每个patch在三维空间中的位置信息、每个patch的法线坐标轴的索引、每个patch从三维空间投影到二维空间产生的深度图、每个patch的深度图大小(例如深度图的宽和高)、每个patch从三维空间投影到二维空间产生的占用图等。该相关信息中的部分，如点云所分成的patch的个数，每个patch的法线坐标轴的索引，每个patch的深度图大小、每个patch在点云中的位置信息、每个patch的占用图的尺寸信息等，可以作为辅助信息被发送到辅助信息编码模块108，以进行编码(即压缩编码)。每个patch的占用图可以被发送到打包模块102进行打包，具体的，将该点云的各patch按照特定的顺序进行排列例如按照各patch的占用图的宽/高降序(或升序)排列；然后，按照排列后的各patch的顺序，依次将patch的占用图插入该点云占用图的可用区域中，得到该点云的占用图。再一方面，各patch在该点云占用图中的具体位置信息和各patch的深度图等可以被发送到深度图生成模块103。
打包模块102获得该点云的占用图后，一方面可以将该点云的占用图经第二填充模块111进行填充后发送到占用图编码模块107以进行编码。另一方面可以利用该点云的占用图指导深度图生成模块103生成该点云的深度图和指导纹理图生成模块104生成该点云的纹理图。
如图3所示，为可适用于本申请实施例的一种点云、点云的patch以及点云的占用图的示意图。其中，图3中的(a)为一帧点云的示意图，图3中的(b)为基于图3中的(a)获得的点云的patch的示意图，图3中的(c)为图3中的(b)所示的各patch映射到二维平面上所得到的各patch的占用图经打包得到的该点云的占用图的示意图。
深度图生成模块103，用于根据该点云的占用图、该点云的各patch的占用图和深度信息，生成该点云的深度图，并将所生成的深度图发送到第一填充模块105，以对深度图中的空白像素点进行填充，得到经填充的深度图。
纹理图生成模块104，用于根据该点云的占用图、该点云的各patch的占用图和纹理信息，生成该点云的纹理图，并将所生成的纹理图发送到第一填充模块105，以对纹理图中的空白像素点进行填充，得到经填充的纹理图。
经填充的深度图和经填充的纹理图被第一填充模块105发送到基于图像或视频的编码模块106，以进行基于图像或视频的编码。后续：
一方面，基于图像或视频的编码模块106、占用图编码模块107、辅助信息编码模块108，将所得到的编码结果(即码流)发送到复用模块109，以合并成一个码流，该码流可以被发送到输出接口140。
另一方面，基于图像或视频的编码模块106所得到的编码结果(即码流)发送到点云重构模块112进行点云重构得到经重构的点云(具体是得到重构的点云几何信息)。具体的，对基于图像或视频的编码模块106所得到的经编码的深度图进行视频解码，获得该点云的解码深度图，利用解码深度图、该点云的占用图和各patch的辅助信息，获得重构的点云几何信息。其中，点云的几何信息是指点云中的点(例如点云中的每个点)在三维空间中的坐标值。应用于在本申请实施例时，这里的“该点云的占用图”可以是该点云经滤波模块113滤波(或称为平滑处理)后得到的占用图。可选的，点云重构模块112还可以将该点云的纹理信息和重构的点云几何信息发送到着色模块，着色模块用于对重构点云进行着色，以获得重构点云的纹理信息。可选的，纹理图生成模块104还可以基于经点云滤波模块110对重构的点云几何信息进行滤波得到的信息生成该点云的纹理图。
以下，对占用图滤波模块113进行详细描述。
占用图滤波模块113位于第二填充模块111和点云重构模块112之间，用于对接收到第二填充模块111发送的点云经填充的占用图进行滤波，并将经滤波的占用图发送给点云重构模块112。该情况下，点云重构模块112基于该点云经滤波的占用图重构点云。其中，对点云经填充的占用图进行滤波(也可以称为平滑处理)，具体可以体现为：将点云经填充的占用图中的一些像素的值置0。具体的，可以根据点云经填充的占用图中的待处理边界像素块的类型，采用对应的目标处理方式将该待处理边界像素块中的目标预设位置的像素的值置0，该方案的具体示例及相关解释可以参考下文。
可选的，占用图滤波模块113还与打包模块102和辅助信息编码模块108连接，如图2中的虚线所示。占用图滤波模块113还用于根据打包模块102发送的点云的占用图确定待处理边界像素块对应的目标处理方式，并将目标处理方式的标识信息作为 辅助信息发送给辅助信息编码模块108，并由辅助信息编码模块108将该标识信息编入码流。
需要说明的是，该可选的实现方式中将目标处理方式的标识信息作为辅助信息并由辅助信息编码模块108将其编入码流为例进行说明的，可替换的，目标处理方式的标识信息也可以由独立于辅助信息编码模块108的一个编码模块将其编入码流，并将该码流发送到复用模块109，以得到合并的码流。另外，该可选的实现方式中是以占用图滤波模块113根据打包模块102发送的点云的占用图确定待处理边界像素块对应的目标处理方式为例进行说明的，可替换的，占用图滤波模块113也可以不依赖于打包模块102发送的点云的占用图，确定目标处理方式。该情况下，占用图滤波模块113可以不与打包模块102连接。
可以理解的，图2所示的编码器100仅为示例，具体实现时，编码器100可以包括比图2中所示的更多或更少的模块。本申请实施例对此不进行限定。
如图4所示，为可用于本申请实施例的一种实例的解码器200的示意性框图。其中，图4中是以MPEG PCC解码框架为例进行说明的。在图4的实例中，解码器200可以包括解复用模块201、基于图像或视频的解码模块202、占用图解码模块203、辅助信息解码模块204、点云重构模块205、点云滤波模块206和点云的纹理信息重构模块207。另外，解码器200可以包括占用图滤波模块208。其中：
解复用模块201用于将输入的码流(即合并的码流)发送到相应解码模块。具体的，将包含经编码的纹理图的码流和经编码的深度图的码流发送给基于图像或视频的解码模块202；将包含经编码的占用图的码流发送给占用图解码模块203，将包含经编码的辅助信息的码流发送给辅助信息解码模块204。
基于图像或视频的解码模块202，用于对接收到的经编码的纹理图和经编码的深度图进行解码；然后，将解码得到的纹理图信息发送给点云的纹理信息重构模块207，将解码得到的深度图信息发送给点云重构模块205。占用图解码模块203，用于对接收到的包含经编码的占用图的码流进行解码，并将解码得到的占用图信息发送给点云重构模块205。应用于在本申请实施例时，发送给点云重构模块205的占用图信息可以是经占用图滤波模块208进行滤波后得到的占用图的信息。辅助信息解码模块204，用于对接收到的经编码的辅助信息进行解码，并将解码得到的指示辅助信息的信息发送给点云重构模块205。
点云重构模块205，用于根据接收到的占用图信息和辅助信息对点云的几何信息进行重构，具体的重构过程可以参考编码器100中的点云重构模块112的重构过程，此处不再赘述。经重构的点云的几何信息经点云滤波模块206滤波之后，被发送到点云的纹理信息重构模块207。点云的纹理信息重构模块207用于对点云的纹理信息进行重构，得到经重构的点云。
以下，对占用图滤波模块208进行详细描述。
占用图滤波模块208位于占用图解码模块203与点云重构模块205之间，用于对占用图解码模块203发送的占用图信息所表示的占用图进行滤波，并将滤波得到的占用图的信息发送给点云重构模块205。其中，这里的占用图是点云经填充的占用图，对点云经填充的占用图进行滤波，具体可以体现为：将点云经填充的占用图中的一些 像素的值置0。具体的，可以根据点云经填充的占用图中的待处理边界像素块的类型，采用对应的目标处理方式将该待处理边界像素块中的目标预设位置的像素的值置0，该方案的具体示例及相关解释可以参考下文。
可选的，占用图滤波模块113还与辅助信息解码模块204连接，如图4中的虚线所示，用于接收辅助信息解码模块204解析码流得到的目标处理方式的标识信息。该可选的实现方式与上文中“占用图滤波模块113还与打包模块102和辅助信息编码模块108连接”的实施例或该实施例的上述替换方案相对应。换句话说，如果编码器100使用该实施例或该实施例的上述替换方案进行编码，则解码器200可以使用该可选的实现方式进行解码。
可以理解的，图4所示的解码器200仅为示例，具体实现时，解码器200可以包括比图4中所示的更多或更少的模块。本申请实施例对此不进行限定。
需要说明的是，编码器100中的点云滤波模块110，以及解码器200中的点云滤波模块206可以去除经重构的点云中的明显的噪声特征的像素如游离点、毛躁边界等。也就是说，使用点云滤波模块能够去除经重构的点云中的一部分outlier点(即离群点或异常点)。但是，如果仅通过点云滤波模块能够去除经重构的点云中的outlier点，则效果不佳。
考虑到经重构的点云中的outlier点的根本原因是由于对点云的占用图进行填充，本申请实施例提供了新的点云编解码方法和编解码器。
为了便于理解本申请实施例提供的技术方案，以下，对填充过程进行说明。
填充是为了节省码流开销而引入的对点云的占用图进行处理的步骤。一种填充方法可以包括：遍历点云的占用图中的每个B0*B0的像素块，不同B0*B0的像素块之间无交叠。对于任意一个B0*B0的像素块来说，如果该像素块中的至少一个像素的值为1，则将该像素块内的所有像素的值均填充为1(即均置为1)。其中，B0*B0是执行填充的基本填充单位。B0是一个基本填充单位包含的像素的一行/列包含的像素的个数。B0通常取2个整数幂，例如B0＝2、4、8、16等。填充后的点云的占用图的分辨率是B0*B0，在此统一说明，下文不再赘述。
如图5所示，为可适用于本申请实施例的一种点云的占用图填充前后的对比示意图。其中，该点云填充之前的占用图如图5中的左上图所示，该点云填充之后的占用图如图5中的右上图所示。图5的左上图的局部占用图如图5中的左下图所示，对该局部占用图进行填充后得到的占用图如图5中的右下图所示。
结合图5可知，对点云的占用图进行填充具体是对点云的占用图中的边界像素块进行填充。该边界像素块如图5中的左下图中的灰色框所示。
虽然执行填充操作可以节省码流开销，但是会导致点云经填充的占用图产生锯齿状的边缘，如图5中的右下图所示的白色部分的像素的边缘。被填充的像素(即填充之前像素值为0且填充之后像素值为1的像素)在编码器100中经点云重构模块112对点云进行重构之后，以及在解码器200中经点云重构模块205对点云进行重构之后，均会成为经重构的点云中的outlier点。
为此，本申请实施例提供了能够有效减少点云的占用图因填充导致重构后的点云出现的outlier点，从而提高编解码性能。具体的，在编码端和/或解码端重构点云之前， 对该点云经填充的占用图进行滤波，并采用该点云滤波后的占用图重构点云。
需要说明的是，上述填充方法仅为示例，其不对本申请实施例可适用的填充方法构成限定。原则上，本申请实施例中提供的“对点云经填充的占用图进行滤波，从而使用点云经滤波的占用图重构点云”的技术方案中的“点云经填充的占用图”可以是采用任意一种填充方法对点云的占用图进行填充之后得到的占用图。
以下，对本申请实施例提供的点云编码、解码方法进行说明。需要说明的是，结合图1所示的点云译码系统，下文中的任一种点云编码方法可以是点云译码系统中的源装置10执行的，更具体的，是由源装置10中的编码器100执行的；下文中的任一种点云解码方法可以是点云译码系统中的目的装置20执行的，更具体的，是由目的装置20中的解码器200执行的。
为了描述上的简洁，如果不加说明，下文中描述的点云译码方法可以包括点云编码方法或点云解码方法。当点云译码方法具体是点云编码方法时，图6所示的实施例中的待译码点云具体是待编码点云；当点云译码方法具体是点云解码方法时，图6所示的实施例中的待译码点云具体是待解码点云。
如图6所示，为本申请实施例提供的一种点云译码方法的流程示意图。该方法可以包括：
S101：确定待译码点云经填充的占用图中的待处理边界像素块的类型。
点云经填充的占用图中的像素块可以分为无效像素块和有效像素块。其中，无效像素块是指所包含的像素的值全为0的像素块，如图5的右下图中的黑色部分所包含的像素块。有效像素块是指所包含的至少一个像素的值为1的像素块，如图5的右下图中的白色部分所包含的像素块。可选的，待处理边界像素块是对待译码点云的占用图执行填充的基本填充单位。下文的具体示例中均以此为例进行说明，在此统一说明，下文不再赘述。
有效像素块包括边界像素块和非边界像素块。其中，如果一个有效像素块的所有空域相邻像素块均是有效像素块，则该有效像素块是非边界像素块；否则，该像素块是边界像素块。
在第一种方式中，边界像素块是指待译码点云经填充的占用图的边界像素块，也就是说，该方式中是基于点云占用图粒度区分边界像素块和非边界像素块的。该情况下，如果一个有效像素块的空域相邻像素块是有效像素块，则该空域相邻像素块与该有效像素块可能所属同一patch的占用图，也可能所属不同patch的占用图。例如，如图5的右下图中的白色部分中非边缘的像素块为非边界像素块，如图5的右下图中白色部分中的且与黑色部分相邻的像素块。
在第二种方式中，边界像素块是指待译码点云经填充的占用图中的patch的占用图的边界像素块，也就是说，该方式中是基于patch的占用图粒度区分边界像素块和非边界像素块的。该情况下，如果一个有效像素块的空域相邻像素块是有效像素块，则该空域相邻像素块与该有效像素块所属同一patch的占用图。
可以理解的是，patch的占用图所占据的空间是指该patch的占用图的最小外界矩形所占据空间。由于patch的占用图一般意义上都是无规则的，因此，patch的占用图的最小外界矩形中一般也会存在一些没有被占用的像素块(即无效像素块)，因此， 可能存在一个有效像素块的某个或某些空域相邻像素块是无效像素块。
以下，通过一个示例说明上述第一种方式和第二种方式的区别。示例的，假设待译码点云经填充的占用图中的一个像素块与其8个空域相邻像素块均是有效像素块，但是，当前像素块所属patch1的占用图，该8个空域相邻像素块中的一个或多个空域相邻像素块所属patch2的占用图，那么：基于上述第一种方式，认为当前像素块是非边界像素块；基于上述第二种方式，认为当前像素块是边界像素块。
S101中的待处理边界像素块可以是待译码点云经填充的占用图中的任意一个边界像素块。本申请实施例对如何确定经填充的占用图中的边界像素块的具体实现方法不进行限定，例如可以参考现有技术。
待处理边界像素块的空域相邻像素块包括与该像素块相邻的，且位于该像素块的正上方、正下方、正左方、正右方、左上方、左下方、右上方和右下方的一个或多个像素块。具体实现的过程中，译码器可以根据两个像素块的坐标，确定这两个像素块是否相邻，以及这两个像素块中的一个像素块相对另一个像素块的方位。
在一种实现方式中，S101可以包括：基于待处理边界像素块的空域相邻像素块是否是无效像素块，估计待处理边界像素块中的无效像素(或有效像素)在待处理边界像素块中的方位信息；其中，不同类型的待处理边界像素块对应不同的方位信息。例如，先在该点云的经填充的占用图中，获取待处理边界像素块的空域相邻像素块，然后，通过确定这些空域相邻像素块是否是无效像素块(或者是否是有效像素块)，确定待处理边界像素块的类型。
在另一种实现方式中，S101可以包括：基于待处理边界像素块在填充前的像素块的空域相邻像素块是否是无效像素块，估计待处理边界像素块中的无效像素在待处理边界像素块中的方位信息。例如，先在该点云的填充前的占用图中获取待处理边界像素块在填充前的像素块，以及待处理边界像素块在填充前的像素块的空域相邻像素块，然后，通过确定这些空域相邻像素块是否是无效像素块(或者是否是有效像素块)，确定待处理边界像素块的类型。
待处理边界像素块中的无效像素，是指待处理边界像素块中的填充之前像素值为0的像素。待处理边界像素块中的有效像素，是指待处理边界像素块中的填充之前像素值为1的像素。根据上文中的描述并结合图5，不难理解，待处理边界像素块中的像素的值均为1，但是待处理边界像素块中的一些像素在填充之前的像素值是0，这些像素被称为无效像素，另一些像素在填充之前的像素值是1，这些像素被称为有效像素。
待处理边界像素块中的无效像素在待处理边界像素块中的方位信息可以包括以下至少一种：正上方、正下方、正左方、正右方、左上方、左下方、右上方和右下方。可以理解的，若待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是正上方，则待处理边界像素块中的有效像素在待处理边界像素块中的方位信息是正下方；若待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是右上方，则待处理边界像素块中的有效像素在待处理边界像素块中的方位信息是左下方。其他示例与此类似，此处不再一一列举。
需要说明的是，如果不加说明，本申请中的方位信息均是指待处理边界像素块中 的无效像素在待处理边界像素块中的方位信息，在此统一说明，下文不再赘述。
不同类型的待处理边界像素块对应不同的方位信息。例如，若待处理边界像素块中的无效像素在待处理边界像素块的正上方，则可以将待处理边界像素块的类型标记为类型A。再如，若待处理边界像素块中的无效像素在待处理边界像素块的正上方和正下方，则可以将待处理边界像素块的类型标记为类型B。又如，若待处理边界像素块中的无效像素在待处理边界像素块的正上方、正左方和右下方，则可以将待处理边界像素块的类型标记为类型C。其他示例不再一一列举。
可选的，如果待处理边界像素块(或者待处理边界像素块填充之前的像素块)的预设方位的空域相邻像素块是无效像素块，则估计得到待处理边界像素块中的无效像素在待处理边界像素块中的预设方位。其中，该预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的其中一种或者至少两种的组合。
可以理解的，如果待处理边界像素块的预设方位的像素块是无效像素块，说明待处理边界像素块内部的该预设方位的像素是无效像素的概率，大于该预设方位的像素是有效像素的概率，因此本申请实施例中译码器估计的该预设方位的像素是无效像素。例如，如果待处理边界像素块的正上方的像素块是无效像素块，说明待处理边界像素块内部的正上方的像素是无效像素的概率，大于该正上方的像素是有效像素的概率，因此本申请实施例中译码器估计的该正上方的像素是无效像素，该示例可以结合图5获得。其他示例不再一一列举。
S102：根据待处理边界像素块的类型，采用对应的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
上述S101～S102可以认为是“将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块”的一种具体实现方式。
可选的，目标预设位置是该待处理边界像素块中的，且与目标有效像素之间的距离大于或等于预设阈值的无效像素所在的位置；或者，目标预设位置是该待处理边界像素块中的，且与目标有效像素所在的直线之间的距离大于或等于预设阈值的无效像素所在的位置。其中，标有效像素所在的直线与待处理边界像素块的类型相关，具体示例可以参考下文。
目标有效像素，是指译码器估计得到的最有可能是有效像素的像素。例如，根据待处理边界像素块中的无效像素(或有效像素)在该待处理边界像素块中的方位信息，估计得到的待处理边界像素块中的最有可能是有效像素的像素。
例如，若待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是正上方，则待处理边界像素块中的有效像素在待处理边界像素块中的方位信息是正下方，该情况下，待处理边界像素块中的目标有效像素是该待处理边界像素块中的最下方一行的像素。如图7所示，为可适用于该示例的一种目标预设位置的示意图。图7中是以待处理边界像素块是4*4的像素块，且预设阈值是2(具体是2个单位距离，其中一个单位距离是水平或竖直方向上相邻两个像素之间的距离)为例进行说明的。
再如，若待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是左下方，则待处理边界像素块中的有效像素在待处理边界像素块中的方位信息是右上方，该情况下，待处理边界像素块中的目标有效像素是该待处理边界像素块中的最右上方 的一个或多个像素。如图8所示，为可适用于该示例的一种目标预设位置的示意图。其中，图8中的(a)是以目标预设位置是该待处理边界像素块中的，且与目标有效像素所在的直线之间的距离大于或等于预设阈值的无效像素所在的位置为例进行说明，图8中的(b)是以目标预设位置是该待处理边界像素块中的，且与目标有效像素之间的距离大于或等于预设阈值的无效像素所在的位置为例进行说明的。并且，图8中，待处理边界像素块是4*4的像素块，且预设阈值是2(具体是2个单位距离，其中一个单位距离是是45度斜线方向上相邻两个像素之间的距离)。
又如，若待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是正上方和左下方，则待处理边界像素块中的有效像素在待处理边界像素块中的方位信息是正下方和右上方，该情况下，待处理边界像素块中的目标有效像素是该待处理边界像素块中的最下方一行的像素，以及最右上方的一个或多个像素，如图9中的(a)的阴影部分所示。预设像素位置如图9中的(b)中的黑色部分所示。
其他示例与此类似，此处不再一一列举。
S103：根据经处理过的占用图，重构待译码点云，该经处理过的占用图包括经置零的像素块。例如，根据经编码的深度图进行视频解码，获得该点云的解码深度图，利用解码深度图、该点云的经处理过的占用图和各patch的辅助信息，获得重构的点云几何信息。
本申请实施例提供的点云译码方法，将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，并根据经处理过的占用图重构该待译码点云，该经处理过的占用图包括经置零的像素块。换句话说，该点云译码方法在重构待译码点云之前执行了对待译码点云经填充的占用图的滤波(或平滑处理)。这样，通过合理设置目标预设位置，有助于将经填充的占用图中的像素值为1的无效像素置0，相比直接采用经填充的占用图重构待译码点云的方案，本申请实施例提供的技术方案经重构的点云中的outlier点较少，因此，有助于提高编解码性能。
以下，基于所依据的空域相邻像素块不同，说明待处理边界像素块的类型(或待处理边界像素块中的无效像素在待处理边界像素块中的方位信息)的具体实现方式。
需要说明的是，这里描述的所依据的空域相邻像素块是指，确定待处理边界像素块的类型时，所依据的空域相邻像素块。而不应理解为待处理边界像素块所具有的空域相邻像素块。例如，可能存在一个待处理边界像素块的空域相邻像素块包括8个像素块，但是基于下述情况一时，仅依据该待处理边界像素块的正上方、正下方、正左方和正右方的像素块，来确定待处理边界像素块的类型。其他示例与此类似，此处不再一一列举。
情况一：待处理边界像素块的空域相邻像素块包括：与所述待处理边界像素块相邻且位于待处理边界像素块的正上方、正下方、正左方和正右方的像素块。该情况下，待处理边界像素块中的无效像素在待处理边界像素块中的方位信息可以包括以下任一种：
方式1A：若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的 预设方向；该预设方向包括正上方、正下方、正左方和正右方中的其中一种或至少两种的组合。
具体的，若该预设方向是正上方，则可以将方式1A所描述的方位信息对应的待处理边界像素块类型称为类型1。若该预设方向是正下方，则可以将方式1A所描述的方位信息对应的待处理边界像素块类型称为类型2。若该预设方向是正左方，则可以将方式1A所描述的方位信息对应的待处理边界像素块类型称为类型7。若该预设方向是正右方，则可以将方式1A所描述的方位信息对应的待处理边界像素块类型称为类型8。
方式1B：若待处理边界像素块的正上方和正右方的像素块为无效像素块，且待处理边界像素块的正下方和正左方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的右上方。示例的，该方位信息对应的待处理边界像素块类型称为类型3。
或者，若待处理边界像素块的正下方和正左方的像素块为无效像素块，且待处理边界像素块的正上方和正右方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的左下方。示例的，该方位信息对应的待处理边界像素块类型称为类型4。
或者，若待处理边界像素块的正上方和正左方的像素块为无效像素块，且待处理边界像素块的正下方和正右方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的左上方。示例的，该方位信息对应的待处理边界像素块类型称为类型5。
或者，若待处理边界像素块的正下方和正右方的像素块为无效像素块，且待处理边界像素块的正上方和正左方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的右下方。示例的，该方位信息对应的待处理边界像素块类型称为类型6。
情况二：待处理边界像素块的空域相邻像素块包括：与待处理边界像素块相邻的且位于待处理边界像素块的正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方的像素块。该情况下，若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的预设方向；预设方向包括左上方、右上方、左下方或右下方。
具体的：若该预设方向是右上方，则可以将该方位信息对应的待处理边界像素块类型称为类型9。若该预设方向是左下方，则可以将该方位信息对应的待处理边界像素块类型称为类型10。若该预设方向是左上方，则可以将该方位信息对应的待处理边界像素块类型称为类型11。若该预设方向是右下方，则可将该方位信息对应的待处理边界像素块类型称为类型12。
上述像素块的类型的索引(如上述类型1～12)、判别方式图、示意图以及描述信息等可以参考图10。其中，图10中的每个小方格表示一个像素块，最中心的标记有五角星的像素块表示待处理边界像素块，黑色标记的像素块表示无效像素块，白色标记的像素块表示有效像素块，斜线阴影标记的像素块表示有效像素块或无效像素块。
例如，图10所示的表格中的第一行中的判别方式图表示：当待处理边界像素块的空域相邻像素块中的正上方的像素块是无效像素块，且正下方、正左方和正右方的像素块均是有效像素块时，判定该待处理边界像素块的类型是类型1。该行中的示意图表示：待处理边界像素块的空域相邻像素块具有以下特征：正上方的像素块是无效像素块，且正下方、正左方和正右方的像素块均是有效像素块；且左上方、右上方、左下方和右下方的像素块是有效像素块或无效像素块。其他示例与此类似，此处不再一一列举。
情况三：待处理边界像素块的空域相邻像素块包括与待处理边界像素块相邻的且位于待处理边界像素块的左上方、右上方、左下方和右下方的像素块。该情况下，若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的预设方向；预设方向包括左上方、右上方、左下方和右下方其中一种或至少两种。
以下，基于待处理边界像素块的类型说明目标预设位置的具体实现方式。在此之前，首先说明以下几点：
第一，下文中的p[i]表示待译码点云经填充的占用图中的第i个边界像素块，p[i].type＝＝j表示边界像素块p[i]的类型的索引是j。
第二，为了便于描述，附图(如图11～图14)中对像素进行了编号，其中，这些附图中的每个小方格表示一个像素。另外下文中的具体示例分别以B0＝2、4或8为例进行说明。
第三，无论待处理边界像素块是哪一种类型，以及无论该类型对应一种还是多种处理方式，编码器和解码器均采用同一种方式对待处理边界块进行处理。
基于待处理边界像素块的类型说明目标预设位置的具体实现方式，可以包括：
如果p[i].type＝＝1，则令p(x,y)为B0*B0块中的一点，b l为去除强度参数，且b l∈[0,B0)；当p(x,y)满足x∈(0,B0],y∈(0,b l]时，p(x,y)＝0即将p点作为目标预设位置。
如果p[i].type＝＝2，则令p(x,y)为B0*B0块中的一点，b l为去除强度参数，且b l∈[0,B0)；当p(x,y)满足x∈(0,B0],y∈(B0-b l,B0]时，p(x,y)＝0即将p点作为目标预设位置。
如图11所示，为本申请实施例提供的一种确定目标预设位置的像素的示意图。
基于图11，如果p[i].type＝＝1，那么：
当B0＝2时，目标预设位置的像素可以是待处理边界像素块中的编号为{1}的像素。
当B0＝4时，目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}或者{1，2，3}的像素。
当B0＝8时，目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1， 2}、{1，2，3}、{1，2，3，4}、{1，2，3，4，5}、{1，2，3，4，5，6}或{1，2，3，4，5，6，7}。
基于图11，如果p[i].type＝＝2，那么：
当B0＝2时，目标预设位置的像素可以是待处理边界像素块中的编号为{2}的像素。
当B0＝4时，目标预设位置的像素可以是待处理边界像素块中的编号为{4}、{3，4}或者{2，3，4}的像素。
当B0＝8时，目标预设位置的像素可以是待处理边界像素块中的编号为{7}、{6，7}、{5，6，7}、{4，5，6，7}、{3，4，5，6，7}、{2，3，4，5，6，7}或{1，2，3，4，5，6，7}。
如果p[i].type＝＝3或者p[i].type＝＝9，则令p(x,y)为B0*B0块中的一点，x,y∈[0,B0)，b c为去除强度参数，且b c∈[-B0+2,B0-1]；当p(x,y)满足x-ky-b c+1＜0时，p(x,y)＝0即将p点作为目标预设位置。其中，k＞0。
如果p[i].type＝＝4或者p[i].type＝＝10，则令p(x,y)为B0*B0块中的一点，x,y∈[0,B0)，b c为去除强度参数，且b c∈[-B0+2,B0-1]；当p(x,y)满足x-ky+b c-1＜0时，p(x,y)＝0即将p点作为目标预设位置。其中，k＞0。
如图12所示，为本申请实施例提供的一种确定目标预设位置的像素的示意图。
基于图12，如果p[i].type＝＝3或9，那么：
当B0＝2时，目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}或{1，2，3}的像素。
当B0＝4时，如果待处理边界像素块如B0＝4对应的第1个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}、{1，2，3}……或{1，2，3……7}的像素；如果待处理边界像素块如B0＝4对应的第2个图或第3个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}、{1，2，3}……或{1，2，3……6}的像素。
当B0＝8时，如果待处理边界像素块如B0＝8对应的第1个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}、{1，2，3}……或{1，2，3……15}的像素；如果待处理边界像素块如B0＝8对应的第1个图，目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}、{1，2，3}……或{1，2，3……12}的像素。
基于图12，如果p[i].type＝＝4或10，那么：
当B0＝2时，目标预设位置的像素可以是待处理边界像素块中的编号为{3}、{2，3}或{1，2，3}的像素。
当B0＝4时，如果待处理边界像素块如B0＝4对应的第1个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{7}、{6，7}、{5，6，7}……或{1，2，3……7}的像素；如果待处理边界像素块如B0＝4对应的第2个图或第3个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{6}、{5，6}、{4，5，6}……或{1，2，3……6}的像素。
当B0＝8时，如果待处理边界像素块如B0＝8对应的第1个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{15}、{14，15}、{13，14，15}、{12，13， 14，15}……或{1，2，3……15}的像素；如果待处理边界像素块如B0＝8对应的第1个图，目标预设位置的像素可以是待处理边界像素块中的编号为{11}、{11，12}、{10，11，12}……或{1，2，3……12}的像素。
如果p[i].type＝＝5或者p[i].type＝＝11，则令p(x,y)为B0*B0块中的一点，x,y∈[0,B0)，bc为去除强度参数，且b c∈[-B0+2,B0-1]。当p(x,y)满足x+ky-B0+b c＜0时，p(x,y)＝0即将p点作为目标预设位置。其中，k＞0。
如果p[i].type＝＝6，或者p[i].type＝＝12，则令p(x,y)为B0*B0块中的一点，x,y∈[0,B0)，bc为去除强度参数，且b c∈[-B0+2,B0-1]。当p(x,y)满足x+ky-B0-b c+2＞0时，p(x,y)＝0即将p点作为目标预设位置。其中，k＞0。
如图13所示，为本申请实施例提供的一种确定目标预设位置的像素的示意图。
基于图13，如果p[i].type＝＝5或11，那么：
当B0＝2时，目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}或{1，2，3}的像素。
当B0＝4时，如果待处理边界像素块如B0＝4对应的第1个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}……或{1，2……7}的像素；如果待处理边界像素块如B0＝4对应的第2个图或第3个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}、{1，2，3}……或{1，2，3……6}的像素。
当B0＝8时，如果待处理边界像素块如B0＝8对应的第1个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}、{1，2，3}……或{1，2，3……15}的像素；如果待处理边界像素块如B0＝8对应的第2个图或第3个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}、{1，2，3}……或{1，2，3……12}的像素。
基于图13，p[i].type＝＝6或12，那么：
当B0＝2时，目标预设位置的像素可以是待处理边界像素块中的编号为{3}、{2，3}或{1，2，3}的像素。
当B0＝4时，如果待处理边界像素块如B0＝4对应的第1个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{7}、{6，7}、{5，6，7}……或{1，2，3……7}的像素；如果待处理边界像素块如B0＝4对应的第2个图或第3个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{6}、{5，6}、{4，5，6}……或{1，2，3……6}的像素。
当B0＝8时，如果待处理边界像素块如B0＝8对应的第1个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{15}、{14，15}、{13，14，15}、{12，13，14，15}……或{1，2，3……15}的像素；如果待处理边界像素块如B0＝8对应的第2个图或第3个图，则目标预设位置的像素可以是待处理边界像素块中的编号为{12}、{11，12}、{10，11，12}……或{1，2，3……12}的像素。
如果p[i].type＝＝7，则令p(x,y)为B0*B0块中的一点，b l为去除强度参数，且b l∈[0,B0)。当p(x,y)满足x∈(B0-b l,B0],y∈(0,B0]时，p(x,y)＝0即将p点作为目标预设位置。其中，k＞0。
如果p[i].type＝＝8，则令p(x,y)为B0*B0块中的一点，b l为去除强度参数，且b l∈[0,B0)。当p(x,y)满足x∈(0,b l],y∈(0,B0]时，p(x,y)＝0即将p点作为目标预设位置。其中，k＞0。
如图14所示，为本申请实施例提供的一种确定目标预设位置的像素的示意图。
基于图14，如果p[i].type＝＝7，那么：
当B0＝2时，目标预设位置的像素可以是待处理边界像素块中的编号为{2}或{1，2}的像素。
当B0＝4时，目标预设位置的像素可以是待处理边界像素块中的编号为{4}、{3，4}……或{1，2……4}的像素。
当B0＝8时，目标预设位置的像素可以是待处理边界像素块中的编号为{8}、{7，8}……或{1，2……8}的像素。
基于图13，p[i].type＝＝8，那么：
当B0＝2时，目标预设位置的像素可以是待处理边界像素块中的编号为{1}或{1，2}的像素。
当B0＝4时，目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}或{1，2……4}的像素。
当B0＝8时，目标预设位置的像素可以是待处理边界像素块中的编号为{1}、{1，2}……或{1，2……8}的像素。
需要说明的是，上文中描述的目标预设位置的像素的具体实现方式仅为示例，实际实现时不限于此。
可选的，上述S102可以包括如下步骤S102A～S102C：
S102A：根据边界像素块的多种类型与多种处理方式之间的映射关系，确定待处理边界像素块的类型对应的处理方式。
S102B：若待处理边界像素块的类型对应一种处理方式，则将待处理边界像素块的类型对应的处理方式作为目标处理方式；或者，若待处理边界像素块的类型对应多种处理方式，则将待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为目标处理方式。
其中，一种处理方式可以对应一种目标预设位置。
S102C：采用目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
在该可选的实现方式中，编码器和解码器可以预定义(如通过协议预定义)边界像素块的多种类型与多种处理方式之间的映射关系，例如预定义边界像素块的多种类型的标识信息与多种处理方式的标识信息之间的映射关系。
本申请实施例中对上述映射关系的具体体现形式不进行限定，例如可以是表格，或者是公式，或者是根据条件进行逻辑判断(例如if else或者switch操作等)等。下文中主要以映射关系的具体体现表格为例进行说明。基于此，执行S102时，译码器可以通过查表，得到待处理边界像素块的类型对应的处理方式。可以理解的，上述映射关系具体体现在一个或多个表格中，本申请实施例对此不进行限定。为了便于描述，本申请实施例均以这些表格具体体现在一个表格中为例进行说明。在此统一说明，下 文不再赘述。基于此，上述S102A具体可以包括：根据待处理边界像素块的类型查表，得到待处理边界像素块的类型对应的处理方式，该表包括边界像素块的多种类型与多种处理方式之间的映射关系。
如果待处理边界像素块对应一种处理方式，则编码器和解码器均可以通过预定义的上述映射关系，获得目标处理方式。因此，该情况下，编码器可以不用向解码器发送用于表示目标处理方式的标识信息，这样可以节省码流传输开销。例如，根据上文中的描述，基于图11，假设待处理边界像素块的类型的索引是1，且B0＝4，则该类型对应的一种处理方式(即目标处理方式)可以是：将待处理边界像素块中的编号为{1}的像素置0。
如果待处理边界像素块对应多种处理方式，则编码器可以从该多种处理方式中选择一种处理方式作为目标处理方式。例如，根据待处理边界像素块在填充之前的像素块中的像素值为0的像素的位置，从待处理边界像素块的类型对应的多种处理方式中选择一种处理方式作为目标处理方式。例如，根据上文中的描述，基于图11，假设待处理边界像素块的类型的索引是1，则该类型对应的多种处理方式可以是：将待处理边界像素块中的编号为{1}的像素置0，以及将待处理边界像素块中的编号为{1，2}的像素置0。目标处理方式可以是将待处理边界像素块中的编号为{1}的像素置0，或者将待处理边界像素块中的编号为{1，2}的像素置0。
可选的，将待处理边界像素块的类型对应多种的处理方式的其中一种处理方式作为目标处理方式，可以包括：根据待处理边界像素块在填充之前的像素块中的像素值为0的像素的位置，从待处理边界像素块的类型对应的多种处理方式中选择一种处理方式作为目标处理方式。其中，所选择的目标处理方式使得待处理边界像素块中的最多的无效像素置0。
例如，如图15所示，为本申请实施例提供的两种类型为1的待处理边界像素块(即无效像素在待处理边界像素块内部的正上方)在填充之前的像素块的示意图。其中，如果待处理边界像素块在填充之前如图15中的(a)所示，即第1行中的像素为无效像素，则目标处理方式可以是将待处理边界像素块中的编号为{1}的像素置0。如果待处理边界像素块在填充之前如图15中的(b)所示，即第1行和第2行中的像素为无效像素，则目标处理方式可以是将待处理边界像素块中的编号为{1，2}的像素置0。其中，图15中是以待处理边界像素块的大小是4*4为例进行说明的。其他示例的原理与此类似，此处不再赘述。
可选的，如果待处理边界像素块对应多种处理方式，则编码器可以将标识信息编入码流，该标识信息表示待处理边界像素块的目标处理方式。该情况下，对于解码器来说，上述S102可以包括：根据待处理边界像素块的类型，解析码流，以得到该标识信息；然后采用目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
可以理解的，如果待处理边界像素块的空域相邻像素块包括8个，则该待处理边界像素块的空域相邻像素块可能的组合共有2 8种，这2 8种的其中一种或者至少两种可以作为一种类型，例如如图10所示的若干种类型。另外，除了上文中所列举的边界像素块的类型之外，边界像素块还可以被归为其他类型。实际实现的过程中，由于待处 理边界像素块的空域相邻像素块可能的组合比较多，因此，可以选择出现概率比较高的类型，或者执行本申请实施例提供的置零处理后对编码效率增益贡献较大的类型，来执行本申请实施例提供的技术方案，对于其他类型，可以不执行本申请实施例提供的技术方案。基于此，对于解码器来说，可以根据待处理边界像素块的类型(具体是指按照本申请实施例提供的技术方案进行编解码的边界像素块的类型，或者对应多种处理方式的边界像素块的类型)，确定是否解析码流。其中，这里的码流是指携带目标处理方式的标识信息的码流。
例如，假设编码器和解码器预定义：针对如图10所示的各种类型的边界像素块，按照本申请实施例提供的技术方案进行编解码；那么，对于解码器来说，当确定一个待处理边界像素块的类型是图10中所示的其中一种类型时，解析码流，以得到该类型对应的目标处理方式；当该待处理边界像素块的类型不是图10中所示的类型时，不解析码流。这样，不需要在码流中传输每个待处理边界像素块的每种类型以及每种类型对应的目标处理方式，因此可以节省码流传输开销。
如图16所示，为本申请实施例提供的一种码流结构的示意图。图16中的每个带箭头的连线表示一个边界像素块与该边界像素块的目标处理方式的标识信息之间的对应关系。图16中的数字表示边界像素块的索引。
上文中描述了基于预定义的边界像素块的类型与处理方式之间的映射关系，确定待处理边界像素块的目标处理方式的技术方案。可替换的，编码器可以动态确定待处理边界像素块的类型对应的目标处理方式，然后将目标处理方式的相关信息编入码流，该情况下，解码器可以通过解析该码流，获得该目标处理方式。作为一个示例，目标处理方式的相关信息可以包括：被置零的像素的索引(如坐标值等)。
如图17所示，为本申请实施例提供的一种点云译码方法的流程示意图。该方法可以包括：
S201：对待译码点云经填充的占用图中的像素值执行腐蚀操作，得到经腐蚀的占用图。
S202：根据经腐蚀的占用图，重构待译码点云。
其中，腐蚀操作具体可以是计算机视觉中的腐蚀操作。可选的，腐蚀操作的基本腐蚀单位小于或等于对待译码点云占用图执行填充操作的基本填充单位。
以下，以基本腐蚀单位是一个像素为例对腐蚀操作进行说明。
具体的，S201可以包括：遍历待译码点云经填充的占用图P中每一个像素p[x][y]，其中，x和y分别为X轴和Y轴坐标值；将像素p[x][y]与核B进行卷积操作，得到经腐蚀(或经滤波)的像素q[x][y]。具体公式如下：q[x][y]＝min (x',y'):element(x',y')≠0p[x+x'][y+y']。其中，该公式表示q[x][y]是核B中的各像素的值中的最小值，p[x+x'][y+y']是核B中的像素(x+x'，y+y')的值。
其中，核B可以是任意形状和大小，一般为正方形或者圆形，具体可以参考现有技术。核B一般会定义一个锚点，该锚点一般为核B的中心点。作为一个示例，核B可以为图18中的任意一种。其中，在图18中，白色方块表示像素值为0的像素，阴影方块表示像素值为1的像素，五角星所在的像素块为锚点。图18中的核B是5*5 的核B。
具体实现的过程中，可以取占用图P中的像素p[x][y]，将图18中某一个核B(具体是哪一种可以编码器和解码器预定义的，当然本申请实施例不限于此)的锚点与p[x][y]对齐，如果核B中阴影方块所示位置在p[x][y]像素点对应邻域点中有至少一个像素的值为0，则q[x][y]取值为0，否则q[x][y]取值为1。
可以理解的，核B的半径决定腐蚀操作的影响像素的多少。核B的半径越大，被腐蚀掉的像素点越多；核B的半径越小，被腐蚀掉的像素点越少。
本实施例提供的点云编码方法中，通过腐蚀操作实现对待译码点云经填充的占用图中的像素值执行腐蚀，从而重构待译码点云。这样，相比直接采用经填充的占用图重构待译码点云的方案，本技术方案经重构的点云中的outlier点较少，因此，有助于提高编解码性能。
如图19所示，为本申请实施例提供的一种点云编码方法的流程示意图。本实施例的执行主体可以是编码器。该方法可以包括：
S301：确定指示信息，该指示信息用于指示是否按照目标编码方法对待编码点云的占用图进行处理；目标编码方法包括本申请实施例提供的任一种点云编码方法，例如可以是图6或图17所示的点云译码方法，且这里的译码具体是指编码。
具体实现的过程中，编码方法可以有至少两种，该至少两种的其中一种可以是本申请实施例提供的任一种点云编码方法，其他种可以是现有技术或未来提供的点云编码方法。
可选的，该指示信息具体可以是目标点云编码/解码方法的索引。具体实现的过程中，编码器和解码器可以预先约定编码器/解码器所支持的至少两种点云编码/解码方法的索引，然后，在编码器确定目标编码方法之后，将目标编码方法的索引或该目标编码方法对应的解码方法的索引作为指示信息编入码流。本申请实施例对编码器如何确定目标编码方法是编码器所支持的至少两种编码方法中的哪一种不进行限定。
S302：将该指示信息编入码流。其中，该指示信息是帧级别的信息。
本实施例提供了一种选择目标编码方法的技术方案，该技术方案可以应用于编码器支持至少两种点云编码方法的场景中。
如图20所示，为本申请实施例提供的一种点云解码方法的流程示意图。本实施例的执行主体可以是解码器。该方法可以包括：
S401：解析码流，以得到指示信息，该指示信息用于指示是否按照目标解码方法对待解码点云的占用图进行处理；目标解码方法包括本申请实施例提供的任一种点云解码方法，例如可以是图6或图17所示的点云译码方法，且这里的译码具体是指解码。具体是与图19中所描述的编码方法相对应的解码方法。其中，该指示信息是帧级别的信息。
S402：当该指示信息用于指示按照目标解码方法对待解码点云的占用图进行处理时，按照目标解码方法对待解码点云的占用图进行处理。其中，具体的处理过程可以参考上文。
本实施例提供的点云解码方法与图19提供的点云编码方法相对应。
例如，上述指示信息可以是标识removeOutlier。
对于编码端来说，作为一个示例，如果确定不使用本申请实施例提供的技术方案进行编码(具体是去除outlier点)，则令removeOutlier等于0。如果确定使用本申请实施例提供的技术方案进行编码(具体是去除outlier点)，则令removeOutlier等于1。
进一步的，如果removeOutlier等于1，那么：对于任一种类型的像素块，如果所对应的处理方式仅有一种，则不需要将该类型对应的目标处理方式的标识信息写入码流。对于任一种类型的像素块，如果所对应的处理方式有多种，则需要将该类型对应的目标处理方式的标识信息写入码流。
以如图10所示的各种类型均对应多种处理方式为例，对于点云经填充的占用图中的第i个像素块p[i]来说：如果p[i].type＝＝0,说明此块为满块，即该块在点云经填充的占用图的内部，不需要去掉无效像素，因此不需要写入码流信息；如果p[i].type！＝0,说明此块为边界像素块，则将p[i].oindex以固定比特数写入码流，该固定比特数取决于编码器和解码器预定义的该类型对应的处理方式的个数。
对于解码端来说，解析码流，得到标识removeOutlier。如果removeOutlier等于0，则不使用本申请实施例提供的技术方案进行编码(具体是去除outlier点)。如果removeOutlier等于1，则使用本申请实施例提供的技术方案进行编码(具体是去除outlier点)。
进一步的，如果removeOutlier等于1，那么：对于点云经填充的占用图中的第i个像素块p[i]来说，如果p[i].type＝＝0,说明此块为满块，不需要从码流中解析得到该块对应的目标处理方式。如果p[i].type！＝0,则从码流中解析p[i].oindex，根据p[i].oindex选择和编码端一样的去掉无效点方法。具体的码流格式可以如表1所示：
表1
Figure PCTCN2019108047-appb-000001
其中，表1中的W表示点云的深度图的宽，W/B0表示点云的占用图的宽。H表 示点云的深度图的高，H/B0表示点云的占用图的高。u(1)表示比特数是1，u(8)表示比特数是8，u(nx)表示比特数是可变的，具体为nx，x＝1、2……x。
上述主要从方法的角度对本申请实施例提供的方案进行了介绍。为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例可以根据上述方法示例对编码器/解码器进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
如图21所示，为本申请实施例提供的一种译码器170的示意性框图。译码器170具体可以是编码器或解码器。译码器170可以包括占用图滤波模块1701和点云重构模块1702。例如，假设译码器170是编码器，则具体可以是图2中的编码器100，该情况下，占用图滤波模块1701可以是占用图滤波模块113，点云重构模块1702可以是点云重构模块112。又如，假设译码器170是解码器，则具体可以是图4中的解码器200，该情况下，占用图滤波模块1701可以是占用图滤波模块208，点云重构模块1702可以是点云重构模块205。
在一些实施例中：
在一种可行的实施方式中，占用图滤波模块1701用于将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。点云重构模块1702，用于根据经处理过的占用图，重构待译码点云，经处理过的占用图包括经置零的像素块。例如，结合图6，占用图滤波模块1701可以用于执行S101和S102，点云重构模块1702可以用于执行S103。
在一种可行的实施方式中，占用图滤波模块1701具体用于：确定待译码点云经填充的占用图中的待处理边界像素块的类型；根据待处理边界像素块的类型，采用对应的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。例如，结合图6，占用图滤波模块1701可以用于执行S101和S102。
在一种可行的实施方式中，在确定所译码点云的占用图中的待处理边界像素块的类型的方面，占用图滤波模块1701具体用于：基于待处理边界像素块的空域相邻像素块是否是无效像素块，估计待处理边界像素块中的无效像素在待处理边界像素块中的方位信息；或者，基于待处理边界像素块在填充前的像素块的空域相邻像素块是否是无效像素块，估计待处理边界像素块中的无效像素在待处理边界像素块中的方位信息。其中，不同类型的边界像素块对应不同的方位信息。
在一种可行的实施方式中，如果待处理边界像素块的预设方位的空域相邻像素块是无效像素块，则估计得到待处理边界像素块中的无效像素在待处理边界像素块中的 预设方位；其中，预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的其中一种或者至少两种的组合。
在一种可行的实施方式中，如果待处理边界像素块在填充前的像素块的预设方位的空域相邻像素块是无效像素块，则估计得到待处理边界像素块中的无效像素在待处理边界像素块中的预设方位；其中，预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的其中一种或者至少两种的组合。
在一种可行的实施方式中，目标预设位置是待处理边界像素块中的，与目标有效像素之间的距离大于或等于预设阈值的无效像素所在的位置。或者，目标预设位置是待处理边界像素块中的，且与目标有效像素所在的直线之间的距离大于或等于预设阈值的无效像素所在的位置；该直线与待处理边界像素块的类型相关。
在一种可行的实施方式中，在根据待处理边界像素块的类型，采用对应的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块的方面，占用图滤波模块1701具体用于：根据边界像素块的多种类型与多种处理方式之间的映射关系，确定待处理边界像素块的类型对应的处理方式；若待处理边界像素块的类型对应一种处理方式，则将待处理边界像素块的类型对应的处理方式作为目标处理方式；或者，若待处理边界像素块的类型对应多种处理方式，则将待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为目标处理方式；采用目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
在一种可行的实施方式中，在根据所述待处理边界像素块的类型，采用对应的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块的方面，占用图滤波模块1701具体用于：根据待处理边界像素块的类型查表，得到待处理边界像素块的类型对应的处理方式，该表包括边界像素块的多种类型与多种处理方式之间的映射关系；若待处理边界像素块的类型对应一种处理方式，则将待处理边界像素块的类型对应的处理方式作为目标处理方式；或者，若待处理边界像素块的类型对应多种处理方式，则将待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为目标处理方式；采用目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
在一种可行的实施方式中，待处理边界像素块的空域相邻像素块包括：与待处理边界像素块相邻且位于待处理边界像素块的正上方、正下方、正左方和正右方的像素块。该情况下，以下提供无效像素在待处理边界像素块中的方位信息的具体实现方式：
若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的预设方向；预设方向包括正上方、正下方、正左方和正右方中的其中一种或至少两种的组合。
或者，若待处理边界像素块的正上方和正右方的像素块为无效像素块，且待处理边界像素块的正下方和正左方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的右上方。
或者，若待处理边界像素块的正下方和正左方的像素块为无效像素块，且待处理 边界像素块的正上方和正右方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的左下方。
或者，若待处理边界像素块的正上方和正左方的像素块为无效像素块，且待处理边界像素块的正下方和正右方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的左上方。
或者，若待处理边界像素块的正下方和正右方的像素块为无效像素块，且待处理边界像素块的正上方和正左方的像素块是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的右下方。
在一种可行的实施方式中，待处理边界像素块的空域相邻像素块包括与待处理边界像素块相邻的且位于待处理边界像素块的左上方、右上方、左下方和右下方的像素块。该情况下，若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则待处理边界像素块中的无效像素在待处理边界像素块中的方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的预设方向；预设方向包括左上方、右上方、左下方和右下方其中一种或至少两种。
在一种可行的实施方式中，待处理边界像素块的空域相邻像素块包括：与待处理边界像素块相邻的且位于待处理边界像素块的正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方的像素块。该情况下，若待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则方位信息是：待处理边界像素块中的无效像素位于待处理边界像素块中的预设方向；预设方向包括左上方、右上方、左下方或右下方。
在一种可行的实施方式中，待处理边界像素块是对待译码点云的占用图执行填充的基本填充单位。
在一种可行的实施方式中，译码器170是编码器，待译码点云是待编码点云，待处理边界像素块的类型对应多种处理方式。该情况下，如图22A所示，编码器还包括辅助信息编码模块1703，用于将标识信息编入码流，标识信息表示待处理边界像素块的目标处理方式。例如，结合图2，辅助信息编码模块1703具体可以是辅助信息编码模块108。
在一种可行的实施方式中，译码器170是编码器，待译码点云是待编码点云，若待处理边界像素块的类型对应多种处理方式，在将待处理边界像素块的类型对应多种的处理方式的其中一种处理方式作为目标处理方式的方面，占用图滤波模块1701具体用于：根据待处理边界像素块在填充之前的像素块中的像素值为0的像素的位置，从待处理边界像素块的类型对应的多种处理方式中选择一种处理方式作为目标处理方式。
在一种可行的实施方式中，译码器170是解码器，待译码点云是待解码点云，待处理边界像素块的类型对应多种处理方式。该情况下，如图22B所示，解码器还包括辅助信息解码模块1704，用于根据待处理边界像素块的类型，解析码流，以得到目标处理方式的标识信息；目标处理方式的标识信息用于指示目标处理方式。在采用目标 处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块方面，占用图滤波模块1701具体用于：采用该标识信息指示的目标处理方式将待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块。
在一种可行的实施方式中，待处理边界像素块是待译码点云经填充的占用图的边界像素块；或者，待处理边界像素块是待译码点云经填充的占用图中的patch的占用图的边界像素块。
在另一些实施例中：
在一种可行的实施方式中，占用图滤波模块1701，用于对待译码点云经填充的占用图中的像素值执行腐蚀操作，得到经腐蚀的占用图。点云重构模块1702，用于根据经腐蚀的占用图，重构待译码点云。例如，结合图17，占用图滤波模块1701可以用于执行S201，点云重构模块1702可以用于执行S202。
在一种可行的实施方式中，腐蚀操作的基本腐蚀单位小于或等于对待译码点云占用图执行填充操作的基本填充单位。
如图23所示，为本申请实施例提供的一种编码器180的示意性框图。编码器180可以包括辅助信息编码模块1801。例如，编码器180可以是图2中的编码器100，该情况下，辅助信息编码模块1801可以是辅助信息编码模块108。其中，辅助信息编码模块1801，用于确定指示信息，以及，将该指示信息编入码流。该指示信息用于指示是否按照目标编码方法对待编码点云的占用图进行处理；目标编码方法包括上文提供的任意一种点云译码方法(具体是点云编码方法)，如图6或图17所示的点云译码方法。
可以理解的，具体实现的过程中，编码器180还包括占用图滤波模块1802和点云重构模块1803，用于按照目标编码方法对待编码点云的占用图进行处理。其中，占用图滤波模块1802所执行的步骤可以参考上述占用图滤波模块1701所执行的步骤，点云重构模块1803所执行的步骤可以参考上述点云重构模块1702所执行的步骤，此处不再赘述。
如图24所示，为本申请实施例提供的一种解码器190的示意性框图。解码器190可以包括：辅助信息解码模块1901、占用图滤波模块1902和点云重构模块1903。其中，辅助信息解码模块1901，用于解析码流，以得到指示信息，指示信息用于指示是否按照目标解码方法对待解码点云的占用图进行处理；目标解码方法包括上文提供的任意一种点云译码方法(具体是点云解码方法)，如图6或图17所示的点云译码方法。占用图滤波模块1902和点云重构模块1903，用于当该指示信息用于指示按照目标解码方法对待解码点云的占用图进行处理时，按照目标解码方法对待解码点云的占用图进行处理，具体的处理过程可以参考上文，此处不再赘述。其中，占用图滤波模块1902和点云重构模块1903所执行的步骤可以分别参考上述占用图滤波模块1701和点云重构模块1702所执行的步骤，此处不再赘述。
可以理解的，本申请实施例提供的译码器170或编码器180或解码器190中的各模块为实现上文提供的相应的方法中所包含的各种执行步骤的功能主体，即具备实现完整实现本申请图像滤波方法中的各个步骤以及这些步骤的扩展及变形的功能主体，具体请参见上文中相应方法的介绍，为简洁起见，本文将不再赘述。
图25为用于本申请实施例的编码设备或解码设备(简称为译码设备210)的一种实现方式的示意性框图。其中，译码设备210可以包括处理器2110、存储器2130和总线系统2150。其中，处理器2110和存储器2130通过总线系统2150相连，该存储器2130用于存储指令，该处理器2110用于执行该存储器2130存储的指令，以执行本申请描述的各种点云译码方法。为避免重复，这里不再详细描述。
在本申请实施例中，该处理器2110可以是中央处理单元(central processing unit，CPU)，该处理器2110还可以是其他通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
该存储器2130可以包括ROM设备或者RAM设备。任何其他适宜类型的存储设备也可以用作存储器2130。存储器2130可以包括由处理器2110使用总线2150访问的代码和数据2131。存储器2130可以进一步包括操作系统2133和应用程序2135，该应用程序2135包括允许处理器2110执行本申请描述的视频编码或解码方法(尤其是本申请描述的基于当前像素块的块尺寸对当前像素块进行滤波的方法)的至少一个程序。例如，应用程序2135可以包括应用1至N，其进一步包括执行在本申请描述的视频编码或解码方法的视频编码或解码应用(简称视频译码应用)。
该总线系统2150除包括数据总线之外，还可以包括电源总线、控制总线和状态信号总线等。但是为了清楚说明起见，在图中将各种总线都标为总线系统2150。
可选的，译码设备210还可以包括一个或多个输出设备，诸如显示器2170。在一个示例中，显示器2170可以是触感显示器，其将显示器与可操作地感测触摸输入的触感单元合并。显示器2170可以经由总线2150连接到处理器2110。
本领域技术人员能够领会，结合本文公开描述的各种说明性逻辑框、模块和算法步骤所描述的功能可以硬件、软件、固件或其任何组合来实施。如果以软件来实施，那么各种说明性逻辑框、模块、和步骤描述的功能可作为一或多个指令或代码在计算机可读媒体上存储或传输，且由基于硬件的处理单元执行。计算机可读媒体可包含计算机可读存储媒体，其对应于有形媒体，例如数据存储媒体，或包括任何促进将计算机程序从一处传送到另一处的媒体(例如，根据通信协议)的通信媒体。以此方式，计算机可读媒体大体上可对应于非暂时性的有形计算机可读存储媒体，或通信媒体，例如信号或载波。数据存储媒体可为可由一或多个计算机或一或多个处理器存取以检索用于实施本申请中描述的技术的指令、代码和/或数据结构的任何可用媒体。计算机程序产品可包含计算机可读媒体。
作为实例而非限制，此类计算机可读存储媒体可包括RAM、ROM、EEPROM、CD-ROM或其它光盘存储装置、磁盘存储装置或其它磁性存储装置、快闪存储器或可用来存储指令或数据结构的形式的所要程序代码并且可由计算机存取的任何其它媒体。并且，任何连接被恰当地称作计算机可读媒体。举例来说，如果使用同轴缆线、光纤缆线、双绞线、数字订户线(DSL)或例如红外线、无线电和微波等无线技术从网站、服务器或其它远程源传输指令，那么同轴缆线、光纤缆线、双绞线、DSL或例如红外线、无线电和微波等无线技术包含在媒体的定义中。但是，应理解，所述计算机可读存储媒体和数据存储媒体并不包括连接、载波、信号或其它暂时媒体，而是实际上针对于 非暂时性有形存储媒体。如本文中所使用，磁盘和光盘包含压缩光盘(CD)、激光光盘、光学光盘、DVD和蓝光光盘，其中磁盘通常以磁性方式再现数据，而光盘利用激光以光学方式再现数据。以上各项的组合也应包含在计算机可读媒体的范围内。
可通过例如一或多个数字信号处理器(DSP)、通用微处理器、专用集成电路(ASIC)、现场可编程逻辑阵列(FPGA)或其它等效集成或离散逻辑电路等一或多个处理器来执行指令。因此，如本文中所使用的术语“处理器”可指前述结构或适合于实施本文中所描述的技术的任一其它结构中的任一者。另外，在一些方面中，本文中所描述的各种说明性逻辑框、模块、和步骤所描述的功能可以提供于经配置以用于编码和解码的专用硬件和/或软件模块内，或者并入在组合编解码器中。而且，所述技术可完全实施于一或多个电路或逻辑元件中。在一种示例下，编码器100及解码器200中的各种说明性逻辑框、单元、模块可以理解为对应的电路器件或逻辑元件。
本申请的技术可在各种各样的装置或设备中实施，包含无线手持机、集成电路(IC)或一组IC(例如，芯片组)。本申请中描述各种组件、模块或单元是为了强调用于执行所揭示的技术的装置的功能方面，但未必需要由不同硬件单元实现。实际上，如上文所描述，各种单元可结合合适的软件和/或固件组合在编码解码器硬件单元中，或者通过互操作硬件单元(包含如上文所描述的一或多个处理器)来提供。
以上所述，仅为本申请示例性的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应该以权利要求的保护范围为准。

Claims (46)

  1. 一种点云译码方法，其特征在于，包括：
    将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块；
    根据经处理过的占用图，重构所述待译码点云，所述经处理过的占用图包括所述经置零的像素块。
  2. 根据权利要求1所述的点云译码方法，其特征在于，所述将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块，包括：
    确定所述待译码点云经填充的占用图中的所述待处理边界像素块的类型；
    根据所述待处理边界像素块的类型，采用对应的目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块。
  3. 根据权利要求2所述的点云译码方法，其特征在于，所述确定所述待译码点云的占用图中的所述待处理边界像素块的类型，包括：
    基于所述待处理边界像素块的空域相邻像素块是否是无效像素块，估计所述待处理边界像素块中的无效像素在所述待处理边界像素块中的方位信息；
    或者，基于所述待处理边界像素块在填充前的像素块的空域相邻像素块是否是无效像素块，估计所述待处理边界像素块中的无效像素在所述待处理边界像素块中的方位信息；
    其中，不同类型的边界像素块对应不同的方位信息。
  4. 根据权利要求3所述的点云译码方法，其特征在于，如果所述待处理边界像素块的预设方位的空域相邻像素块是无效像素块，则估计得到所述待处理边界像素块中的无效像素在所述待处理边界像素块中的所述预设方位；其中，所述预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的其中一种或者至少两种的组合。
  5. 根据权利要求3所述的点云译码方法，其特征在于，如果所述待处理边界像素块在填充前的像素块的预设方位的空域相邻像素块是无效像素块，则估计得到所述待处理边界像素块中的无效像素在所述待处理边界像素块中的所述预设方位；其中，所述预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的其中一种或者至少两种的组合。
  6. 根据权利要求2至5任一项所述的点云译码方法，其特征在于，所述根据所述待处理边界像素块的类型，采用对应的目标处理方式将所述待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块，包括：
    根据边界像素块的多种类型与多种处理方式之间的映射关系，确定所述待处理边界像素块的类型对应的处理方式；
    若所述待处理边界像素块的类型对应一种处理方式，则将所述待处理边界像素块的类型对应的处理方式作为所述目标处理方式；或者，若所述待处理边界像素块的类型对应多种处理方式，则将所述待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为所述目标处理方式；
    采用所述目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块。
  7. 根据权利要求2至5任一项所述的点云译码方法，其特征在于，所述根据所述待处理边界像素块的类型，采用对应的目标处理方式将所述待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块，包括：
    根据待处理边界像素块的类型查表，得到所述待处理边界像素块的类型对应的处理方式，所述表包括边界像素块的多种类型与多种处理方式之间的映射关系；
    若所述待处理边界像素块的类型对应一种处理方式，则将所述待处理边界像素块的类型对应的处理方式作为所述目标处理方式；或者，若所述待处理边界像素块的类型对应多种处理方式，则将所述待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为所述目标处理方式；
    采用所述目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块。
  8. 根据权利要求3至5任一项所述的点云译码方法，其特征在于，所述待处理边界像素块的空域相邻像素块包括：与所述待处理边界像素块相邻且位于所述待处理边界像素块的正上方、正下方、正左方和正右方的像素块；
    若所述待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的所述预设方向；所述预设方向包括正上方、正下方、正左方和正右方中的其中一种或至少两种的组合；
    或者，若所述待处理边界像素块的正上方和正右方的像素块为无效像素块，且所述待处理边界像素块的正下方和正左方的像素块是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的右上方；
    或者，若所述待处理边界像素块的正下方和正左方的像素块为无效像素块，且所述待处理边界像素块的正上方和正右方的像素块是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的左下方；
    或者，若所述待处理边界像素块的正上方和正左方的像素块为无效像素块，且所述待处理边界像素块的正下方和正右方的像素块是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的左上方；
    或者，若所述待处理边界像素块的正下方和正右方的像素块为无效像素块，且所述待处理边界像素块的正上方和正左方的像素块是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的右下方。
  9. 根据权利要求3至5任一项所述的点云译码方法，其特征在于，所述待处理边界像素块的空域相邻像素块包括与所述待处理边界像素块相邻的且位于所述待处理边界像素块的左上方、右上方、左下方和右下方的像素块；
    若所述待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的所述预设方向；所述预设方向包括左上方、右上方、左下方和右下方其中一种或至少两种。
  10. 根据权利要求3至5任一项所述的点云译码方法，其特征在于，所述待处理边界像素块的空域相邻像素块包括：与所述待处理边界像素块相邻的且位于所述待处理边界像素块的正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方的像素块；
    若所述待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的所述预设方向；所述预设方向包括左上方、右上方、左下方或右下方。
  11. 根据权利要求1至10任一项所述的点云译码方法，其特征在于，所述目标预设位置是所述待处理边界像素块中的，与目标有效像素之间的距离大于或等于预设阈值的无效像素所在的位置；或者，所述目标预设位置是所述待处理边界像素块中的，且与目标有效像素所在的直线之间的距离大于或等于预设阈值的无效像素所在的位置；所述直线与所述待处理边界像素块的类型相关。
  12. 根据权利要求1至11任一项所述的点云译码方法，其特征在于，所述待处理边界像素块是对所述待译码点云的占用图执行填充的基本填充单位。
  13. 根据权利要求6或7所述的点云译码方法，其特征在于，所述待译码点云是待编码点云，若所述待处理边界像素块的类型对应多种处理方式；所述方法还包括：
    将标识信息编入码流，所述标识信息表示所述待处理边界像素块的目标处理方式。
  14. 根据权利要求6或7所述的点云译码方法，其特征在于，所述待译码点云是待编码点云，若所述待处理边界像素块的类型对应多种处理方式，所述将所述待处理边界像素块的类型对应多种的处理方式的其中一种处理方式作为所述目标处理方式，包括：
    根据所述待处理边界像素块在填充之前的像素块中的像素值为0的像素的位置，从所述待处理边界像素块的类型对应的多种处理方式中选择一种处理方式作为所述目标处理方式。
  15. 根据权利要求6或7所述的点云译码方法，其特征在于，所述待译码点云是待解码点云，若所述待处理边界像素块的类型对应多种处理方式，所述根据所述待处理边界像素块的类型，采用对应的目标处理方式将所述待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块，包括：
    根据所述待处理边界像素块的类型，解析码流，以得到标识信息；所述标识信息表示所述目标处理方式；
    采用所述标识信息所指示的目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块。
  16. 根据权利要求1至15任一项所述的方法，其特征在于，
    所述待处理边界像素块是所述待译码点云经填充的占用图的边界像素块；
    或者，所述待处理边界像素块是所述待译码点云经填充的占用图中的点云块patch的占用图的边界像素块。
  17. 一种点云译码方法，其特征在于，包括：
    对待译码点云经填充的占用图中的像素值执行腐蚀操作，得到经腐蚀的占用图；
    根据所述经腐蚀的占用图，重构所述待译码点云。
  18. 根据权利要求17所述的点云译码方法，其特征在于，所述腐蚀操作的基本腐蚀单位小于或等于对所述待译码点云占用图执行填充操作的基本填充单位。
  19. 一种点云编码方法，其特征在于，包括：
    确定指示信息，所述指示信息用于指示是否按照目标编码方法对待编码点云的占用图进行处理；所述目标编码方法包括如权利要求1～14任一项所述的点云译码方法；
    将所述指示信息编入码流。
  20. 一种点云解码方法，其特征在于，包括：
    解析码流，以得到指示信息，所述指示信息用于指示是否按照目标解码方法对待解码点云的占用图进行处理；所述目标解码方法包括如权利要求1～12或15所述的点云译码方法；
    当所述指示信息用于指示按照所述目标解码方法对所述待解码点云的占用图进行处理时，按照所述目标解码方法对所述待解码点云的占用图进行处理。
  21. 一种译码器，其特征在于，包括：
    占用图滤波模块，用于将待译码点云经填充的占用图中的待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块；
    点云重构模块，用于根据经处理过的占用图，重构所述待译码点云，所述经处理过的占用图包括所述经置零的像素块。
  22. 根据权利要求21所述的译码器，其特征在于，所述占用图滤波模块具体用于：
    确定所述待译码点云经填充的占用图中的所述待处理边界像素块的类型；
    根据所述待处理边界像素块的类型，采用对应的目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块。
  23. 根据权利要求22所述的译码器，其特征在于，在所述确定所述待译码点云的占用图中的所述待处理边界像素块的类型的方面，所述占用图滤波模块具体用于：
    基于所述待处理边界像素块的空域相邻像素块是否是无效像素块，估计所述待处理边界像素块中的无效像素在所述待处理边界像素块中的方位信息；
    或者，基于所述待处理边界像素块在填充前的像素块的空域相邻像素块是否是无效像素块，估计所述待处理边界像素块中的无效像素在所述待处理边界像素块中的方位信息；
    其中，不同类型的边界像素块对应不同的方位信息。
  24. 根据权利要求23所述的译码器，其特征在于，如果所述待处理边界像素块的预设方位的空域相邻像素块是无效像素块，则估计得到所述待处理边界像素块中的无效像素在所述待处理边界像素块中的所述预设方位；其中，所述预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的其中一种或者至少两种的组合。
  25. 根据权利要求23所述的译码器，其特征在于，如果所述待处理边界像素块在填充前的像素块的预设方位的空域相邻像素块是无效像素块，则估计得到所述待处理边界像素块中的无效像素在所述待处理边界像素块中的所述预设方位；其中，所述预设方位是正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方中的 其中一种或者至少两种的组合。
  26. 根据权利要求22至25任一项所述的译码器，其特征在于，在所述根据所述待处理边界像素块的类型，采用对应的目标处理方式将所述待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块的方面，所述占用图滤波模块具体用于：
    根据边界像素块的多种类型与多种处理方式之间的映射关系，确定所述待处理边界像素块的类型对应的处理方式；
    若所述待处理边界像素块的类型对应一种处理方式，则将所述待处理边界像素块的类型对应的处理方式作为所述目标处理方式；或者，若所述待处理边界像素块的类型对应多种处理方式，则将所述待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为所述目标处理方式；
    采用所述目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块。
  27. 根据权利要求22至25任一项所述的译码器，其特征在于，在所述根据所述待处理边界像素块的类型，采用对应的目标处理方式将所述待处理边界像素块中的目标预设位置的像素的值置零，得到经置零的像素块的方面，所述占用图滤波模块具体用于：
    根据待处理边界像素块的类型查表，得到所述待处理边界像素块的类型对应的处理方式，所述表包括边界像素块的多种类型与多种处理方式之间的映射关系；
    若所述待处理边界像素块的类型对应一种处理方式，则将所述待处理边界像素块的类型对应的处理方式作为所述目标处理方式；或者，若所述待处理边界像素块的类型对应多种处理方式，则将所述待处理边界像素块的类型对应的多种处理方式的其中一种处理方式作为所述目标处理方式；
    采用所述目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块。
  28. 根据权利要求23至25任一项所述的译码器，其特征在于，所述待处理边界像素块的空域相邻像素块包括：与所述待处理边界像素块相邻且位于所述待处理边界像素块的正上方、正下方、正左方和正右方的像素块；
    若所述待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的所述预设方向；所述预设方向包括正上方、正下方、正左方和正右方中的其中一种或至少两种的组合；
    或者，若所述待处理边界像素块的正上方和正右方的像素块为无效像素块，且所述待处理边界像素块的正下方和正左方的像素块是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的右上方；
    或者，若所述待处理边界像素块的正下方和正左方的像素块为无效像素块，且所述待处理边界像素块的正上方和正右方的像素块是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的左下方；
    或者，若所述待处理边界像素块的正上方和正左方的像素块为无效像素块，且所 述待处理边界像素块的正下方和正右方的像素块是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的左上方；
    或者，若所述待处理边界像素块的正下方和正右方的像素块为无效像素块，且所述待处理边界像素块的正上方和正左方的像素块是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的右下方。
  29. 根据权利要求23至25任一项所述的译码器，其特征在于，所述待处理边界像素块的空域相邻像素块包括与所述待处理边界像素块相邻的且位于所述待处理边界像素块的左上方、右上方、左下方和右下方的像素块；
    若所述待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的所述预设方向；所述预设方向包括左上方、右上方、左下方和右下方其中一种或至少两种。
  30. 根据权利要求23至25任一项所述的译码器，其特征在于，所述待处理边界像素块的空域相邻像素块包括：与所述待处理边界像素块相邻的且位于所述待处理边界像素块的正上方、正下方、正左方、正右方、左上方、右上方、左下方和右下方的像素块；
    若所述待处理边界像素块的预设方向的空域相邻像素块是无效像素块，且其他空域相邻像素块均是有效像素块，则所述方位信息是：所述待处理边界像素块中的无效像素位于所述待处理边界像素块中的所述预设方向；所述预设方向包括左上方、右上方、左下方或右下方。
  31. 根据权利要求21至30任一项所述的译码器，其特征在于，所述目标预设位置是所述待处理边界像素块中的，与目标有效像素之间的距离大于或等于预设阈值的无效像素所在的位置；或者，所述目标预设位置是所述待处理边界像素块中的，且与目标有效像素所在的直线之间的距离大于或等于预设阈值的无效像素所在的位置；所述直线与所述待处理边界像素块的类型相关。
  32. 根据权利要求21至31任一项所述的译码器，其特征在于，所述待处理边界像素块是对所述待译码点云的占用图执行填充的基本填充单位。
  33. 根据权利要求26或27所述的译码器，其特征在于，所述译码器是编码器，所述待译码点云是待编码点云，所述待处理边界像素块的类型对应多种处理方式；所述编码器还包括：
    辅助信息编码模块，用于将标识信息编入码流，所述标识信息表示所述待处理边界像素块的目标处理方式。
  34. 根据权利要求26或27所述的译码器，其特征在于，所述译码器是编码器，所述待译码点云是待编码点云，若所述待处理边界像素块的类型对应多种处理方式，在所述将所述待处理边界像素块的类型对应多种的处理方式的其中一种处理方式作为所述目标处理方式的方面，所述占用图滤波模块具体用于：
    根据所述待处理边界像素块在填充之前的像素块中的像素值为0的像素的位置，从所述待处理边界像素块的类型对应的多种处理方式中选择一种处理方式作为所述目标处理方式。
  35. 根据权利要求26或27所述的译码器，其特征在于，所述译码器是解码器，所述待译码点云是待解码点云，若所述待处理边界像素块的类型对应多种处理方式，所述解码器还包括：
    辅助信息解码模块，用于根据所述待处理边界像素块的类型，解析码流，以得到标识信息；所述标识信息表示所述目标处理方式；
    在所述采用所述目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块方面，所述占用图滤波模块具体用于：采用所述标识信息指示的目标处理方式将所述待处理边界像素块中的所述目标预设位置的像素的值置零，得到经置零的像素块。
  36. 根据权利要求31至35任一项所述的译码器，其特征在于，
    所述待处理边界像素块是所述待译码点云经填充的占用图的边界像素块；
    或者，所述待处理边界像素块是所述待译码点云经填充的占用图中的点云块patch的占用图的边界像素块。
  37. 一种译码器，其特征在于，包括：
    占用图滤波模块，用于对待译码点云经填充的占用图中的像素值执行腐蚀操作，得到经腐蚀的占用图；
    点云重构模块，用于根据所述经腐蚀的占用图，重构所述待译码点云。
  38. 根据权利要求37所述的译码器，其特征在于，所述腐蚀操作的基本腐蚀单位小于或等于对所述待译码点云占用图执行填充操作的基本填充单位。
  39. 一种编码器，其特征在于，包括：辅助信息编码模块，用于确定指示信息，以及，将所述指示信息编入码流；所述指示信息用于指示是否按照目标编码方法对待编码点云的占用图进行处理；所述目标编码方法包括如权利要求1～14任一项或权利要求16所述的点云译码方法。
  40. 一种解码器，其特征在于，包括：
    辅助信息解码模块，用于解析码流，以得到指示信息，所述指示信息用于指示是否按照目标解码方法对待解码点云的占用图进行处理；所述目标解码方法包括如权利要求1～12或15或16所述的点云译码方法；
    占用图滤波模块，用于当所述指示信息用于指示按照所述目标解码方法对所述待解码点云的占用图进行处理时，按照所述目标解码方法对所述待解码点云的占用图进行处理。
  41. 一种译码装置，其特征在于，包括存储器和处理器；所述存储器用于存储程序代码；所述处理器用于调用所述程序代码，以执行如权利要求1至18任一项所述的点云译码方法。
  42. 一种编码装置，其特征在于，包括存储器和处理器；所述存储器用于存储程序代码；所述处理器用于调用所述程序代码，以执行如权利要求19所述的点云编码方法。
  43. 一种解码装置，其特征在于，包括存储器和处理器；所述存储器用于存储程序代码；所述处理器用于调用所述程序代码，以执行如权利要求20所述的点云解码方法。
  44. 一种计算机可读存储介质，其特征在于，包括程序代码，所述程序代码在计算机上运行时，使得所述计算机执行如权利要求1至18任一项所述的点云译码方法。
  45. 一种计算机可读存储介质，其特征在于，包括程序代码，所述程序代码在计算机上运行时，使得所述计算机执行如权利要求19所述的点云编码方法。
  46. 一种计算机可读存储介质，其特征在于，包括程序代码，所述程序代码在计算机上运行时，使得所述计算机执行如权利要求20所述的点云解码方法。
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