WO2022116832A1 - 点云文件传输方法、装置、设备、存储介质及程序产品 - Google Patents

点云文件传输方法、装置、设备、存储介质及程序产品 Download PDF

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Publication number
WO2022116832A1
WO2022116832A1 PCT/CN2021/131225 CN2021131225W WO2022116832A1 WO 2022116832 A1 WO2022116832 A1 WO 2022116832A1 CN 2021131225 W CN2021131225 W CN 2021131225W WO 2022116832 A1 WO2022116832 A1 WO 2022116832A1
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Prior art keywords
point cloud
file
information
cloud file
extended information
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PCT/CN2021/131225
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English (en)
French (fr)
Inventor
胡颖
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腾讯科技（深圳）有限公司
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Publication of WO2022116832A1 publication Critical patent/WO2022116832A1/zh
Priority to US17/972,326 priority Critical patent/US20230049384A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L23/00—Apparatus or local circuits for systems other than those covered by groups H04L15/00 - H04L21/00
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/14—Session management
    • H04L67/146—Markers for unambiguous identification of a particular session, e.g. session cookie or URL-encoding
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof

Definitions

  • the embodiments of the present application relate to the technical field of point cloud applications, and in particular, to a point cloud file transmission method, apparatus, device, storage medium, and program product.
  • the point cloud application business for individual users mainly involves application scenarios of point cloud data presentation.
  • the sending end device encodes the point cloud data, encapsulates the encoded data stream to obtain a point cloud file, and transmits the point cloud file to the receiving end device.
  • the receiving end device decapsulates the point cloud file first, then decodes it, and finally presents the decoded data stream.
  • the embodiments of the present application provide a point cloud file transmission method, apparatus, device, storage medium, and program product, which can expand the application scenarios of point cloud data-based services.
  • the technical solution is as follows:
  • a point cloud file transmission method which is executed by a sending end device, and the method includes:
  • the point cloud file is a file containing point cloud data
  • the extended information is information that provides support for the target business
  • the target business is Describe the business realized by point cloud data
  • the associated point cloud file and the extension information are transmitted to the receiver device, so that the receiver device executes the target service through the point cloud data based on the extension information.
  • a point cloud file application method which is executed by a receiving end device, and the method includes:
  • the associated point cloud file and extension information are obtained after the sending end device obtains the point cloud file and the extension information corresponding to the point cloud file , obtained by associating the point cloud file with the extended information;
  • the point cloud file is a file containing point cloud data;
  • the extended information is information that provides support for the target business;
  • the target service is executed through the point cloud data.
  • a point cloud file transmission device includes:
  • an acquisition module configured to acquire a point cloud file and extended information corresponding to the point cloud file;
  • the point cloud file is a file containing point cloud data, and the extended information is information that provides support for the target business, and the The target business is the business realized through the point cloud data;
  • a transmission module configured to transmit the associated point cloud file and the extension information to a receiving end device, so that the receiving end device executes the target service through the point cloud data based on the extension information.
  • the apparatus further includes: an association module, configured to, before the transmission module transmits the associated point cloud file and the extended information to the receiving end device, compare the point cloud file associated with the extended information.
  • the association module is configured to encapsulate the extended information into the point cloud file, and obtain the encapsulated point cloud file as the associated point cloud file and the extended information.
  • the association module is configured to encapsulate the extended information as an extended information item in the point cloud file based on the target item type, and obtain the encapsulated point cloud file.
  • the extended information in response to the extended information item being indexed by other items in the point cloud file, the extended information is used to provide support for the application of the first point cloud data, the first point The cloud data is the part of the point cloud data corresponding to the other items;
  • the extended information is used to provide support for the application of second point cloud data, the second point cloud data being the point cloud data , corresponds to the part of the file level where the extended information item is located.
  • the association module is used to:
  • the signaling message, the extension information and the point cloud file are acquired as the associated point cloud file and the extension information.
  • the signaling message includes an identifier of the point cloud file and an identifier of the extended information.
  • the signaling message further includes at least one of a service identifier of the target service and an information type identifier of the extended information.
  • the extension information includes association information; the association information is used to indicate the file level or item associated with the extension information in the point cloud file.
  • the transmission module is configured to send the signaling message to the receiving end device, where the signaling message is used to instruct the receiving end device to pull the point cloud file and the extended information.
  • the extended information includes application scene information corresponding to the point cloud file.
  • a point cloud file transmission device includes:
  • the receiving module is used to receive the associated point cloud file and extension information; the associated point cloud file and the extension information are obtained by the sending end device, and the point cloud file and the point cloud file are obtained by the sender device. After the corresponding extension information, the point cloud file is obtained by associating with the extension information; the point cloud file is a file containing point cloud data; the extension information is the information that provides support for the target business;
  • An execution module configured to execute the target service by using the point cloud data based on the extension information.
  • the apparatus further includes: a decoding module, configured to decode the associated point cloud before the execution module executes the target service by using the point cloud data based on the extension information file and the extended information.
  • the receiving module is configured to receive the encapsulated point cloud file; the encapsulated point cloud file is encapsulated with the extended information.
  • the extended information is an extended information item in the encapsulated point cloud file.
  • the extended information in response to the extended information item being indexed by other items in the point cloud file, the extended information is used to provide support for the application of the first point cloud data, the first point The cloud data is the part of the point cloud data corresponding to the other items;
  • the extended information is used to provide support for the application of second point cloud data, the second point cloud data being the point cloud data , corresponds to the part of the file level where the extended information item is located.
  • the receiving module is configured to:
  • the signaling message includes an identifier of the point cloud file and an identifier of the extended information
  • the point cloud file and the extended information are pulled.
  • the signaling message further includes at least one of a service identifier of the target service and an information type identifier of the extended information.
  • the extension information includes association information; the association information is used to indicate the file level or item associated with the extension information in the point cloud file.
  • the extended information includes application scene information corresponding to the point cloud file.
  • a computer device includes a processor and a memory, the memory stores at least one computer program, the at least one computer program is loaded by the processor and executed Execute to realize the above point cloud file transmission method or point cloud file application method.
  • a computer-readable storage medium where at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor to implement the above point Cloud file transfer method or point cloud file application method.
  • an embodiment of the present application provides a computer program product or computer program, where the computer program product or computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium.
  • the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above point cloud file transmission method or point cloud file application method.
  • the sending end device can send the associated point cloud file and extended information to the receiving end device. After the receiving end device receives the associated point cloud file and the extended information, it can realize the point cloud data based on the point cloud file according to the extended information. Since the extension information can carry information other than point cloud data, it can support the receiving end device to implement services that require information other than point cloud data, so as to expand the application of point cloud data-based services Scenes.
  • Fig. 1 is a kind of point cloud application frame diagram exemplarily shown in this application;
  • FIG. 2 is a simplified block diagram of a communication system provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of the placement mode of the point cloud encoder and the point cloud decoder in the streaming transmission environment exemplarily shown in the present application;
  • FIG. 4 is a flowchart of a point cloud file transmission and application method provided by an embodiment of the present application.
  • FIG. 5 is a flowchart of a point cloud file transmission and application method provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the positioning process based on point cloud data involved in the embodiment shown in FIG. 5;
  • FIG. 7 is a flowchart of a point cloud file transmission and application method provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a positioning process based on point cloud data involved in the embodiment shown in FIG. 7;
  • FIG. 9 is a block diagram of a point cloud file transmission device provided by an embodiment of the present application.
  • FIG. 10 is a block diagram of a point cloud file application device provided by an embodiment of the present application.
  • FIG. 11 is a structural block diagram of a computer device provided by an embodiment of the present application.
  • a point cloud is a set of discrete points that are randomly distributed in space and express the spatial structure and surface properties of a three-dimensional object or scene.
  • Each point in the point cloud has at least three-dimensional position information, and may also have color, material, or other information depending on the application scenario.
  • each point in a point cloud has the same number of additional properties.
  • Point cloud can express the spatial structure and surface properties of 3D objects or scenes flexibly and conveniently, so it is widely used. Its main application scenarios can be classified into two categories:
  • Machine perception point cloud such as autonomous navigation system, real-time inspection system, geographic information system, visual sorting robot, emergency rescue robot, etc.;
  • Point clouds such as point cloud application scenarios such as digital cultural heritage, free-view broadcasting, 3D immersive communication, and 3D immersive interaction.
  • Ways to obtain point clouds include but are not limited to computer generation, 3D (3-Dimension, three-dimensional) laser scanning, and 3D photogrammetry.
  • the computer can generate point clouds of virtual three-dimensional objects and scenes.
  • 3D scanning can obtain point clouds of static real-world 3D objects or scenes, and millions of point clouds can be obtained per second.
  • 3D cameras can obtain point clouds of dynamic real-world three-dimensional objects or scenes, and can obtain tens of millions of point clouds per second.
  • point clouds of biological tissues and organs can be obtained from Magnetic Resonance Imaging (MRI), Computed Tomography (CT), and electromagnetic positioning information.
  • MRI Magnetic Resonance Imaging
  • CT Computed Tomography
  • electromagnetic positioning information electromagnetic positioning information.
  • V-PCC Video-based Point Cloud Compression
  • G-PCC Geometry-based Point Cloud Compression
  • FIG. 1 shows a frame diagram of a point cloud application involved in an embodiment of the present application.
  • G-PCC data as an example, in Figure 1, at the transmitting end, a real-world virtual scene (A) is captured by a set of cameras or a camera device 11 with multiple lenses and sensors. The acquisition result is the source point cloud data (B).
  • One or more point cloud frames are encoded by the G-PCC encoder 12 into an encoded G-PCC bitstream (E), including an encoded geometry bitstream and an attribute bitstream.
  • the file encapsulator 13 encapsulates one or more encoded bitstreams (E) into a media file (F) for file playback, or into an initialization segment and media for streaming, according to a specific media container file format Sequence of segments (Fs).
  • the file encapsulator 13 also includes metadata into the file or segment, and (Fs) is passed to the user through the delivery mechanism 14; A plurality of encoded bit streams (E'), and decoded (E') by the G-PCC decoder 16 to obtain one or more point cloud frames (D') after decoding, and presented by the presentation component 17 on the display component 18 A virtual scene (A') corresponding to one or more point cloud frames (D') is presented.
  • HD Map High Definition Map
  • HD Map is one of the main application scenarios of point cloud.
  • HD map is a high-resolution map format used in the field of autonomous driving.
  • the Navigation Data Standard (NDS) format is a standard format for a car-level navigation database jointly developed and created by car manufacturers and suppliers.
  • OpenDrive format OpenDrive is an open format specification for describing the logic of road networks. Its purpose is to standardize logical road descriptions to facilitate data exchange between different driving simulators.
  • the layers of high-precision maps can be roughly divided into three layers according to their roles in automatic driving: lane-level road network layer, positioning layer and dynamic layer.
  • Road data such as road geometry, lane line type (solid/dotted, single/double), lane color (white, yellow), and data attributes of each lane (slope, curvature, heading, elevation, etc.) ;
  • Fixed object information around the lane such as traffic signs, traffic lights and other information, lane height limits, sewer crossings, obstacles, and other road details, as well as infrastructure information such as elevated objects, number of guardrails, road edge types, roadside landmarks, etc. .
  • the elements contained in this layer depend on which sensors the autonomous vehicle intends to use to match the positioning layer for positioning.
  • the current positioning solutions for autonomous vehicles are quite different.
  • positioning solutions based on visual feature matching there are also positioning solutions based on lidar point cloud feature matching, and positioning solutions based on fusion of visual features and lidar point cloud feature data; at the same time, the elements contained in the positioning layer are also related to the application scenarios of autonomous vehicles;
  • map dealers may generate different positioning layers for high-precision maps based on different scenarios and different sensors.
  • the content contained in the dynamic layer can be roughly divided into two aspects: real-time road conditions and traffic events; for example, dynamic traffic information such as road congestion, construction conditions, whether there are traffic accidents, traffic control conditions, and weather conditions.
  • dynamic traffic information such as road congestion, construction conditions, whether there are traffic accidents, traffic control conditions, and weather conditions.
  • Communication system 200 includes a plurality of devices that can communicate with each other via, for example, network 250 .
  • the communication system 200 includes a first device 210 and a second device 220 interconnected by a network 250 .
  • the first device 210 and the second device 220 perform unidirectional data transfer.
  • the first device 210 may encode point cloud data (eg, a stream of point cloud frames collected by the first device 210 ) for transmission to the second device 220 over the network 250 .
  • the encoded point cloud data is transmitted as one or more encoded point cloud bitstreams.
  • the second device 220 may receive the encoded point cloud data from the network 250, decode the encoded point cloud data to restore the point cloud data, and present the point cloud according to the restored point cloud data.
  • One-way data transfer is common in applications such as media services.
  • the communication system 200 includes a third device 230 and a fourth device 240 that perform bidirectional transmission of encoded point cloud data.
  • each of the third device 230 and the fourth device 240 may encode the point cloud data for transmission to the other of the third device 230 and the fourth device 240 over the network 250 .
  • Each of the third device 230 and the fourth device 240 may also receive encoded point cloud data transmitted by the other of the third device 230 and the fourth device 240, and may decode the encoded point cloud data
  • the point cloud data can be recovered, and the point cloud can be displayed on an accessible display device according to the recovered point cloud data.
  • the first device 210 , the second device 220 , the third device 230 and the fourth device 240 may be computer devices such as servers, personal computers and smart phones, but the principles disclosed in this application may not be limited thereto.
  • the embodiments of the present application are applicable to a PC (Personal Computer, personal computer), a mobile phone, a tablet computer, a virtual reality/augmented reality device, a media player, and/or a dedicated video conference device.
  • Network 250 represents any number of networks that communicate encoded point cloud data between first device 210, second device 220, third device 230, and fourth device 240, including, for example, wired and/or wireless communication networks.
  • Communication network 250 may exchange data in circuit-switched and/or packet-switched channels.
  • the network may include a telecommunications network, a local area network, a wide area network, and/or the Internet.
  • the architecture and topology of network 250 may be immaterial to the operations disclosed herein.
  • Figure 3 shows how the point cloud encoder and point cloud decoder are placed in a streaming environment.
  • the subject matter disclosed in this application is equally applicable to other point cloud-enabled applications, including, for example, virtual 3D conferences, digital TV (television), CD (Compact Disc), DVD (Digital Versatile Disc), Storage of compressed point clouds and the like on digital media such as memory sticks.
  • the streaming system may include an acquisition subsystem 313 , which may include a point cloud source 301 , such as a three-dimensional camera, that creates a stream 302 of uncompressed point cloud data. Compared to the encoded point cloud data 304 (or the encoded point cloud bitstream), the point cloud data stream 302 is depicted as a thick line to emphasize the high data volume of the point cloud data stream, which can be obtained by the electronic device.
  • the electronic device 320 including a point cloud encoder 303 coupled to the point cloud source 301 .
  • Point cloud encoder 303 may include hardware, software, or a combination of hardware and software to implement or implement various aspects of the disclosed subject matter as described in greater detail below.
  • encoded point cloud data 304 (or encoded point cloud bitstream 304) is depicted as a thin line to emphasize the lower amount of encoded point cloud data 304 (or encoded point cloud data 304).
  • point cloud bitstream 304 which can be stored on the streaming server 305 for future use.
  • One or more streaming client subsystems such as client subsystem 306 and client subsystem 308 in FIG. 3 , may access streaming server 305 to retrieve copies 307 and 309 of encoded point cloud data 304 .
  • Client subsystem 306 may include, for example, point cloud decoder 310 in electronic device 330 .
  • the point cloud decoder 310 decodes the incoming copy 307 of the encoded point cloud data and produces an output point cloud data stream 311 that can be presented on a display 312 (eg, a display screen) or another presentation device (not depicted).
  • the encoded point cloud data 304, point cloud data 307, and point cloud data 309 may be encoded according to certain point cloud encoding/compression standards.
  • electronic device 320 and electronic device 330 may include other components (not shown).
  • electronic device 320 may include a point cloud decoder (not shown), and electronic device 330 may also include a point cloud encoder (not shown).
  • the point cloud decoder is used to decode the received encoded point cloud data; the point cloud encoder is used to encode the point cloud data.
  • AVS Analog Video coding Standard
  • AVS3 Audio Video coding Standard
  • next-generation video coding standard AVS3
  • AVS3 next-generation video coding standard
  • the point cloud business for individuals mainly involves the business of point cloud presentation. That is, the sending end device encodes and encapsulates the collected or generated point cloud data to generate a point cloud file, and transmits the point cloud file to the receiving end device, and the receiving end device extracts the point cloud data from the point cloud file and displays it to the user.
  • the presented point cloud is encapsulated and sent by the sending end device, which cannot carry more information other than the point cloud data.
  • the receiving end device can only simply present it, and cannot Point cloud data enables more diverse services, which makes it difficult to expand the application scenarios of point cloud data-based salespeople.
  • FIG. 4 shows a flowchart of a point cloud file transmission and application method provided by an embodiment of the present application.
  • the process of the point cloud file transmission and application method is as follows:
  • the sending end device obtains the point cloud file and the extension information corresponding to the point cloud file (corresponding to step S401 in FIG. 4 );
  • the point cloud file is a file containing point cloud data, and the extension
  • the information is the information that provides support to the target service, and the target service is the service realized through the point cloud data;
  • the associated point cloud file and the extended information are transmitted to the receiving end device (corresponding to step S402 in FIG. 4 ), So that the receiving end device executes the target service through the point cloud data based on the extension information.
  • the sending end device may associate the point cloud file with the extended information before sending the associated point cloud file and the extended information; in another possible implementation, the above-mentioned point cloud
  • the step of associating the file with the extended information may also be performed by other devices than the sending end device.
  • the receiver device receives the associated point cloud file and extension information transmitted by the sender device (corresponding to step S402 in FIG. 4 ); and based on the extension information, executes the above goal through the point cloud data service (corresponding to step S403 in FIG. 4 ).
  • the receiving end device can decode the associated point cloud file and extended information before executing the target service through the point cloud data; in another possible implementation, the above-mentioned decoding and associated point cloud file and extended information
  • the steps can also be performed by other devices other than the receiving end device.
  • the above-mentioned target service is a service performed based on point cloud data in addition to presenting point cloud data.
  • the above target services may be positioning services, navigation planning services, and additional information display services other than point cloud data in a high-precision map scenario.
  • the sending end device of the point cloud file can associate the point cloud file with the extended information, and send the associated point cloud file and the extended information to the receiving end device, and the receiving end device receives the After the associated point cloud file and the extended information, the target business based on the point cloud data in the point cloud file can be realized according to the extended information. Since the extended information can carry other information except the point cloud data, it can realize the required The business of information other than point cloud data can expand the application scenarios of business based on point cloud data.
  • both the receiving end device and the sending end device can be computer devices, and the computer devices refer to electronic devices with data computing, processing and storage capabilities, such as PCs, mobile phones, tablet computers, media players, virtual reality/ Augmented reality devices, servers, and more.
  • the method provided in this application can be applied to the server side, the player side, and the intermediate nodes of the point cloud media system.
  • a point cloud media encoding node which may be a server, drone, mobile phone terminal, or other device with point cloud media encoding capabilities
  • obtain the corresponding point cloud file according to the content of the point cloud media and the application scenario of the point cloud media Extended information; when the point cloud media encoding node encapsulates the point cloud media, the extended information of the point cloud media is associated with the point cloud file.
  • This kind of association can be achieved by the association of the file encapsulation itself, or through the signaling file indication; the point cloud media is transmitted; at the point cloud media decoding node, the extended information in the point cloud file can be flexibly used and presented according to the application requirements. .
  • the sending end device can associate the point cloud file and the extended information into the same file.
  • several descriptive fields can be added at the system layer, including field expansion at the file encapsulation level, to support the association between point cloud files and extended information.
  • FIG. 5 shows a flowchart of a point cloud file transmission and application method provided by an embodiment of the present application.
  • a computer device is used as the main body for executing each step for description and description.
  • the method may include the following steps:
  • Step 501 the sending end device obtains a point cloud file and extension information corresponding to the point cloud file;
  • the point cloud file is a file containing point cloud data, and the extension information is information that provides support for the target service, and the target service is: The business realized by this point cloud data.
  • the point cloud media service provider may create a point cloud file in advance, and the extended information required to make the point cloud file support the target service.
  • the extended information is used in combination with the point cloud data in the point cloud file to realize the information of the target service other than the point cloud data presentation.
  • the extended information can include the detailed introduction information of the cultural relic, and the receiving end device can present the detailed introduction information of the cultural relic while presenting the point cloud data.
  • the extended information may include information indicating navigation planning or positioning through the high-precision map data, and the receiving end device may display the navigation route while presenting the point cloud data. , or, perform high-precision positioning.
  • the information content of the above extension information is determined by the service implementation requirements of the target service, and the embodiment of the present application does not limit the form and function of the information included in the extension information.
  • Step 502 the sending end device encapsulates the extended information into the point cloud file, and obtains the encapsulated point cloud file as the associated point cloud file and the extended information.
  • the sending end device encapsulates the extended information and the point cloud file together, and generates a new point cloud file as the association result between the point cloud file and the extended information.
  • the extended information is encapsulated into the point cloud file, including:
  • the extended information is encapsulated as extended information items in the point cloud file.
  • the sender device can define the extension of a new item type in the ISOBMFF data box of the point cloud data Information item, as the above-mentioned extended information item.
  • ISOBMFF International Organization for Standardization Basic Media File Format
  • the item is identified with "xitm”.
  • the extension information in response to the extension information item being indexed by other items in the point cloud file, the extension information is used to provide support for the application of the first point cloud data, where the first point cloud data is the above-mentioned In the point cloud data, the part corresponding to other items;
  • the extension information is used to provide support for the application of the second point cloud data, and the second point cloud data is in the above point cloud data corresponding to the extension information.
  • the point cloud file may contain multiple pieces of point cloud data, and the above-mentioned extended information may correspond to part of the point cloud data in the point cloud file, or may correspond to all the point cloud data in the above point cloud file.
  • the corresponding relationship between the extended information and one or more pieces of point cloud data in the point cloud file is indicated by the index relationship; if the extended information If the item is not indexed by any item in the point cloud file, the corresponding relationship between the extended information and one or more pieces of point cloud data in the point cloud file is indicated by the file level where the extended information item is located.
  • the extended information item may be linked to other types of item data boxes through the "xirf" type item index data box, that is, indexed by other types of item data boxes. If the extended information item is indexed by other item data boxes, the extended information corresponding to the extended information item belongs to the data box that indexes it. If the extended information item is not indexed by other item data boxes, the extended information corresponding to the extended information item belongs to the file level where it is located, that is, the extended information item describes the corresponding file level (file level), media metadata level (movie level) ), track level, media metadata segment level, or track segment level.
  • the extended information includes application scene information corresponding to the point cloud file.
  • the corresponding item attribute data box is as follows:
  • item_file_format indicates the file format of the extended information item, and its value is shown in Table 2 below:
  • application_scenario indicates the application scenario of item extension information, and its values are shown in Table 3 below:
  • extension_info_description indicates the description information of the extension information, which is a null-terminated string.
  • map_format indicates the map format of the high-precision map application, and its values are shown in Table 4 below:
  • map_level indicates the map level of the high-precision map, and its values are shown in Table 5 below:
  • Step 503 the sending end device transmits the associated point cloud file and the extended information to the receiving end device, and correspondingly, the receiving end device receives the associated point cloud file and the extended information.
  • the sending end device when sending the associated point cloud file and the extended information, may send the encapsulated point cloud file to the receiving end device.
  • Step 504 the receiving end device executes a target service based on the extension information, and the target service is a service realized based on the point cloud data.
  • the receiving end device may decode the associated point cloud file and the extended information, and based on the extended information, execute the target service by using the point cloud data in the point cloud file.
  • FIG. 6 shows a schematic diagram of a positioning process based on point cloud data involved in an embodiment of the present application.
  • a point cloud file A1 of high-precision map data exists on the server (sending device), and the high-precision map contains The item form is packaged as a point cloud media file.
  • the high-precision map data is point cloud data obtained by shooting/scanning the actual map scene through a point cloud collection device.
  • the service provider of the point cloud data configures the corresponding map information (location layer information) for the high-precision map data by configuring the equipment, and stores it in the server in the OpenDrive format.
  • the file type is xml file, which is recorded as file B.
  • the xml file B is also encapsulated into the file as an item (step S61), and a new point cloud file A2 is obtained.
  • point cloud file A2 there is an item of type "xitm”, which is indexed to the item corresponding to the high-precision map point cloud data through the "xirf" index type, and each field in the item attribute data box ExtensionItemProperty corresponding to the item
  • the values are as follows:
  • map_format 0;
  • extension_info_description 'hd map info'.
  • the server transmits the point cloud file A2 to the client (receiver device) (step S62).
  • the corresponding point cloud data can be indexed through the map information, and the point cloud data can be used for positioning analysis (step S63).
  • the map information is used as extended information and is bound to the point cloud data, and the map information is equivalent to a guide information.
  • the point cloud data is the point cloud data that constitutes the traffic lights.
  • the client performs positioning analysis through point cloud data. For example, the client collects local point cloud data in all directions, and compares the point cloud data associated with the map information in the point cloud file A2 with the local point cloud data. Matching is performed to determine the relative position between the traffic light and the client, and further through the relative position, combined with the position of the traffic light, the precise current position of the client is determined.
  • the sending end device of the point cloud file before sending the point cloud file, the sending end device of the point cloud file first encapsulates the extension information into the point cloud file, so as to realize the point cloud file and extension The information is correlated, and the encapsulated point cloud file is sent to the receiving end device. After receiving the encapsulated point cloud file, the receiving end device can realize the target business based on the point cloud data in the point cloud file according to the extended information.
  • the extended information can carry information other than point cloud data, therefore, services that require information other than point cloud data can be implemented, so that application scenarios of services based on point cloud data can be expanded.
  • the sending end device can also establish an association relationship between the point cloud file and the extended information in addition to the point cloud file and the extended information.
  • the system layer can also establish an association relationship between the point cloud file and the extended information.
  • several descriptive fields can be added at the system layer, including field extensions at the system signaling layer, to support the association between point cloud files and extended information.
  • FIG. 7 shows a flowchart of a point cloud file transmission and application method provided by an embodiment of the present application.
  • a computer device is used as the main body for executing each step for description and description.
  • the method may include the following steps:
  • Step 701 the sending end device obtains the point cloud file and the extension information corresponding to the point cloud file;
  • the point cloud file is a file containing point cloud data
  • the extension information is the information that provides support for the target service, and the target service is: The business realized by this point cloud data.
  • step 501 in the embodiment shown in FIG. 5 , and details are not repeated here.
  • Step 702 the sending end device generates a signaling message, where the signaling message is used to indicate the association relationship between the extended information and the point cloud file.
  • the signaling message includes the identifier of the point cloud file and the identifier of the extended information.
  • the extension information includes association information; the association information is used to indicate the file level or item associated with the extension information in the point cloud file.
  • the above-mentioned signaling message may be a signaling message based on the Moving Picture Experts Group Media Transport (Moving Picture Experts Group Media Transport, MMT).
  • MMT Moving Picture Experts Group Media Transport
  • the extension information shown in the embodiment of the present application in addition to being indicated in the point cloud file encapsulation, can also be associated with the point cloud file and the independent extension information file by transmitting signaling (ie, the above-mentioned signaling message).
  • signaling ie, the above-mentioned signaling message
  • the receiving end device After the receiving end device requests the point cloud file, the file of extended information and the corresponding signaling message, it can parse the signaling message to obtain the association relationship between the point cloud file and the file of extended information, so that according to the content of the file of extended information, Based on the point cloud data in the point cloud file, the policy corresponding to the corresponding target business is executed.
  • syntax structure of the above signaling message may be as shown in Table 6 below:
  • extension_file_format indicates the file format of the extension information
  • extension_file_name_length and extension_file_name respectively indicate the file name length and specific file name of the extension information, wherein the file name length does not include the last character of the string;
  • extension_file_URL_length and URL_byte respectively indicate the URL address length and specific address information of the extension information file.
  • application_scenario indicates the application scenario of the extended information
  • extension_info_description_length and extension_info_description respectively indicate the description field length and specific description information of the extension information, wherein the description field length does not contain the last character of the character string;
  • map_format indicates the map format of the high-precision map application
  • map_level indicates the map level of the high-precision map
  • associated_asset_id indicates the asset_id of the media file associated with the extension information, wherein asset_id is the file identifier defined by the MMT standard;
  • associated_track_flag and associated_item_flag indicate whether the extended information is associated with the track level and a specific item, and the values of these two flags are independent of each other;
  • associated_track_id indicates the associated track id
  • associated_item_id indicates the associated itemid.
  • Step 703 the sending end device acquires the signaling message, the extension information and the point cloud file as the associated point cloud file and the extension information.
  • the sending end device uses the generated signaling message, the extension information and the point cloud file as the associated point cloud file and the extension information, and indicates the extension information and the point cloud file to the receiving end device through the signaling message. Associations between cloud files.
  • Step 704 the sending end device transmits the associated point cloud file and the extended information to the receiving end device, and correspondingly, the receiving end device receives the associated point cloud file and the extended information.
  • the associated point cloud file and the extended information are transmitted to the receiving end device, including:
  • the signaling message is sent to the receiving end device, where the signaling message is used to instruct the receiving end device to pull the point cloud file and the extended information.
  • the sender device when it transmits the associated point cloud file and extended information to the receiver device, it may first send a signaling message to the receiver device, and after the receiver device receives the signaling message, based on the The association relationship in the signaling message, requesting point cloud files and extended information from the sender device.
  • the signaling message further includes at least one of a service identifier of the target service and an information type identifier of the extended information.
  • the receiving end device can decide whether to receive the extension information associated with the point cloud file according to the usage situation. .
  • the receiving end device may decide whether to receive the extended information by at least one of the service identifier carried in the signaling message and the information type identifier of the extended information.
  • the point cloud data of the high-precision map can be used for various services, and the receiving end device can be set to enable/disable these services; for example, the point cloud data of the high-precision map can be used for positioning services and Traffic light reminder service, assuming that the receiving end device currently enables the positioning service, but turns off the traffic light reminder service, after the receiving end device receives the signaling message, if the service identifier carried in the signaling message indicates the positioning service, or the signaling message
  • the information type identifier carried in the ID indicates that the extended information is the information required by the positioning service, then the receiving end device can request and receive the extended information from the sending end device; Avoid unnecessary transmission of extended information and save system resources.
  • Step 705 the receiving end device executes a target service based on the extension information, and the target service is a service realized based on the point cloud data.
  • the receiving end device executes the above target service through the point cloud data in the point cloud file.
  • FIG. 8 shows a schematic diagram of a positioning process based on point cloud data involved in an embodiment of the present application.
  • a point cloud file A of high-precision map data exists on the server side (sending device), and the high-precision map contains The item form is packaged as a point cloud media file.
  • the high-precision map data is point cloud data obtained by shooting/scanning the actual map scene through a point cloud collection device.
  • the service provider of the point cloud data configures the corresponding map information (location layer information) for the high-precision map data by configuring the equipment, and stores it in the server in the OpenDrive format.
  • the file type is xml file, which is recorded as file B.
  • a signaling message C is generated based on the point cloud file A and the xml file B (step S81), that is, the association relationship between the original point cloud file A and the xml file B is indicated as follows through the indication signaling of the extended information:
  • extension_file_name_length 1
  • extension_file_name 'B'
  • extension_file_URL_length 4;
  • map_format 0;
  • extension_info_description 'hd map info'
  • the server transmits the point cloud file A, the xml file B and the signaling message C to the client (the receiving end device) (step S82);
  • the signalling message C is parsed, that is, during positioning, the corresponding point cloud data can be indexed through the map information, and the point cloud data can be used for positioning analysis (step S83).
  • the sending end device of the point cloud file first generates an association file (ie, a signaling message) between the point cloud file and the extended information before sending the point cloud file. ) to associate the point cloud file with the extended information, and send the point cloud file, the extended information and the associated file to the receiver device, and the receiver device can parse the associated file to realize the point cloud file based on the extended information
  • an association file ie, a signaling message
  • the sending end device of the point cloud file first generates an association file (ie, a signaling message) between the point cloud file and the extended information before sending the point cloud file.
  • an association file ie, a signaling message
  • FIG. 9 shows a block diagram of a point cloud file transmission apparatus provided by an embodiment of the present application.
  • the apparatus has the function of implementing the above method example, and the function may be implemented by hardware executing corresponding software.
  • the apparatus may include:
  • the acquiring module 901 is configured to acquire a point cloud file and extension information corresponding to the point cloud file;
  • the point cloud file is a file containing point cloud data, and the extension information is information that provides support for the target service, and the The target business is the business realized through the point cloud data;
  • the transmission module 902 is configured to transmit the associated point cloud file and the extension information to a receiver device, so that the receiver device can execute the target service based on the extension information.
  • the apparatus further includes: an associating module 903, configured to, before the transmission module transmits the associated point cloud file and the extended information to the receiving end device, compare the point cloud A file is associated with the extended information.
  • the association module 903 is configured to encapsulate the extended information into the point cloud file, and obtain the encapsulated point cloud file as the associated point cloud file and the extended information.
  • the association module 903 is configured to encapsulate the extended information into an extended information item in the point cloud file based on the target item type, and obtain the encapsulated point cloud file.
  • the extended information in response to the extended information item being indexed by other items in the point cloud file, the extended information is used to provide support for the application of the first point cloud data, the first point The cloud data is the part of the point cloud data corresponding to the other items;
  • the extended information is used to provide support for the application of second point cloud data, the second point cloud data being the point cloud data , corresponds to the part of the file level where the extended information item is located.
  • the association module 903 is configured to:
  • the signaling message, the extension information and the point cloud file are acquired as the associated point cloud file and the extension information.
  • the signaling message includes an identifier of the point cloud file and an identifier of the extended information.
  • the signaling message further includes at least one of a service identifier of the target service and an information type identifier of the extended information.
  • the extension information includes association information; the association information is used to indicate the file level or item associated with the extension information in the point cloud file.
  • the transmission module 902 is configured to send the signaling message to the receiving end device, where the signaling message is used to instruct the receiving end device to pull the point cloud file and the extended information.
  • the extended information includes application scene information corresponding to the point cloud file.
  • the sending end device of the point cloud file can send the associated point cloud file and extended information to the receiving end device, and after receiving the associated point cloud file and the extended information, the receiving end device can According to the extension information, the target service based on the point cloud data in the point cloud file is realized. Since the extension information can carry other information except the point cloud data, the service that requires information other than the point cloud data can be realized, so that the Expand the application scenarios of business based on point cloud data.
  • FIG. 10 shows a block diagram of a point cloud file application apparatus provided by an embodiment of the present application.
  • the apparatus has the function of implementing the above method example, and the function may be implemented by hardware executing corresponding software.
  • the apparatus may include:
  • the receiving module 1001 is configured to receive the associated point cloud file and extension information; the associated point cloud file and the extension information are obtained by the sending end device, and the corresponding point cloud file After the extended information, the point cloud file is obtained by associating with the extended information; the point cloud file is a file containing point cloud data;
  • the execution module 1002 is configured to execute a target service based on the extension information, where the target service is a service realized based on the point cloud data.
  • the apparatus further includes: a decoding module, configured to decode the associated point cloud before the execution module executes the target service by using the point cloud data based on the extension information file and the extended information.
  • the receiving module 1001 is configured to receive the encapsulated point cloud file; the encapsulated point cloud file is encapsulated with the extended information.
  • the extended information is an extended information item in the encapsulated point cloud file.
  • the extended information in response to the extended information item being indexed by other items in the point cloud file, the extended information is used to provide support for the application of the first point cloud data, the first point The cloud data is the part of the point cloud data corresponding to the other items;
  • the extended information is used to provide support for the application of second point cloud data, the second point cloud data being the point cloud data , corresponds to the part of the file level where the extended information item is located.
  • the receiving module 1001 is configured to:
  • the signaling message includes an identifier of the point cloud file and an identifier of the extended information
  • the point cloud file and the extended information are pulled.
  • the signaling message further includes at least one of a service identifier of the target service and an information type identifier of the extended information.
  • the extension information includes association information; the association information is used to indicate the file level or item associated with the extension information in the point cloud file.
  • the extended information includes application scene information corresponding to the point cloud file.
  • the receiving end device after receiving the associated point cloud file and the extended information, the receiving end device can realize the target service based on the point cloud data in the point cloud file according to the extended information.
  • Information other than cloud data therefore, services requiring information other than point cloud data can be implemented, so that application scenarios of services based on point cloud data can be expanded.
  • FIG. 11 shows a structural block diagram of a computer device provided by an embodiment of the present application.
  • the computer device may be the sending end device described above, or the receiving end device described above.
  • the computer device 110 may include a processor 111 , a memory 112 , a communication interface 113 , an encoder/decoder 114 and a bus 115 .
  • the processor 111 includes one or more processing cores, and the processor 111 executes various functional applications and information processing by running software programs and modules.
  • the memory 112 can be used to store a computer program, and the processor 111 is used to execute the computer program, so as to implement all or part of the steps in the method involved in the embodiment shown in FIG. 5 or FIG. 7 .
  • the communication interface 113 can be used to communicate with other devices, such as transceiving point cloud data.
  • the encoder/decoder 114 may be used to implement encoding and decoding functions, such as encoding and decoding point cloud data.
  • the memory 112 is connected to the processor 111 through a bus 115 .
  • memory 112 may be implemented by any type of volatile or non-volatile storage device or combination thereof.
  • FIG. 11 does not constitute a limitation on the computer device 110, and may include more or less components than those shown, or combine some components, or adopt different component arrangements.
  • a computer-readable storage medium is also provided, and at least one computer program is stored in the computer-readable storage medium, and when executed by a processor, the at least one computer program realizes the above-mentioned FIG. 5 or All or part of the steps in the method involved in the embodiment shown in FIG. 7 .
  • a computer program product or computer program comprising computer instructions stored in a computer readable storage medium.
  • the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes all or part of the steps in the method involved in the embodiment shown in FIG. 5 or FIG. 7 .

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Abstract

一种点云文件传输方法、装置、设备、存储介质及程序产品，涉及点云应用技术领域。所述方法包括：获取点云文件，以及与所述点云文件对应的扩展信息(401)；所述点云文件是包含点云数据的文件，所述扩展信息是对目标业务提供支持的信息，所述目标业务是通过所述点云数据实现的业务；将关联后的所述点云文件和所述扩展信息传输给接收端设备(402)，以便所述接收端设备基于所述扩展信息执行所述目标业务。本方案能够实现需要除了点云数据之外的信息的业务，从而扩展基于点云数据的业务的应用场景。

Description

点云文件传输方法、装置、设备、存储介质及程序产品
本申请要求于2020年12月01日提交的、申请号为202011392353.2、发明名称为“点云文件传输方法、应用方法、装置、设备及存储介质”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
本申请实施例涉及点云应用技术领域，特别涉及一种点云文件传输方法、装置、设备、存储介质及程序产品。
背景技术
随着点云的获取方式的不断变革，点云的获取精度也越来越高，相应的获取成本也在逐渐降低，因此，点云在各种场景中的应用前景也越来越广阔。
在相关技术中，面向个人用户的点云应用业务主要涉及点云数据呈现的应用场景。比如，发送端设备对点云数据进行编码，对编码后的数据流进行封装得到点云文件，并将点云文件传输给接收端设备。相对应的，接收端设备先对点云文件进行解封装，然后再进行解码，最后将解码后的数据流进行呈现。
发明内容
本申请实施例提供了一种点云文件传输方法、装置、设备、存储介质及程序产品，能够扩展基于点云数据的业务的应用场景。所述技术方案如下：
根据本申请实施例的一个方面，提供了一种点云文件传输方法，由发送端设备执行，所述方法包括：
获取点云文件，以及与所述点云文件对应的扩展信息；所述点云文件是包含点云数据的文件，所述扩展信息是对目标业务提供支持的信息，所述目标业务是通过所述点云数据实现的业务；
将关联后的所述点云文件和所述扩展信息传输给接收端设备，以便所述接收端设备基于所述扩展信息，通过所述点云数据执行所述目标业务。
根据本申请实施例的一个方面，提供了一种点云文件应用方法，由接收端设备执行，所述方法包括：
接收关联后的点云文件和扩展信息；关联后的所述点云文件和所述扩展信息，是发送端设备获取所述点云文件，以及与所述点云文件对应的所述扩展信息后，对所述点云文件和所述扩展信息进行关联获得的；所述点云文件是包含点云数据的文件；所述扩展信息是对目标业务提供支持的信息；
基于所述扩展信息，通过所述点云数据执行所述目标业务。
根据本申请实施例的一个方面，提供了一种点云文件传输装置，所述装置包括：
获取模块，用于获取点云文件，以及与所述点云文件对应的扩展信息；所述点云文件是包含点云数据的文件，所述扩展信息是对目标业务提供支持的信息，所述目标业务是通过所述点云数据实现的业务；
传输模块，用于将关联后的所述点云文件和所述扩展信息传输给接收端设备，以便所述接收端设备基于所述扩展信息，通过所述点云数据执行所述目标业务。
在一种可能的实现方式中，所述装置还包括：关联模块，用于在传输模块将关联后的所述点云文件和所述扩展信息传输给接收端设备之前，对所述点云文件和所述扩展信息进行关 联。
在一种可能的实现方式中，所述关联模块，用于将所述扩展信息封装到所述点云文件中，获得封装后的所述点云文件，作为关联后的所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述关联模块，用于基于目标项目类型，将所述扩展信息封装为所述点云文件中的扩展信息项目，获得封装后的所述点云文件。
在一种可能的实现方式中，响应于所述扩展信息项目被所述点云文件中的其它项目索引，所述扩展信息用于对第一点云数据的应用提供支持，所述第一点云数据是所述点云数据中，对应所述其它项目的部分；
响应于所述扩展信息项目未被所述点云文件中的其它项目索引，所述扩展信息用于对第二点云数据的应用提供支持，所述第二点云数据是所述点云数据中，对应所述扩展信息项目所在的文件层级的部分。
在一种可能的实现方式中，所述关联模块，用于，
生成信令消息，所述信令消息用于指示所述扩展信息与所述点云文件之间的关联关系；
将所述信令消息、所述扩展信息以及所述点云文件获取为关联后的所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述信令消息中包含所述点云文件的标识以及所述扩展信息的标识。
在一种可能的实现方式中，所述信令消息中还包括所述目标业务的业务标识，以及所述扩展信息的信息类型标识中的至少一种。
在一种可能的实现方式中，所述扩展信息中包含关联信息；所述关联信息用于指示所述点云文件中，与所述扩展信息关联的文件层级或者项目。
在一种可能的实现方式中，所述传输模块，用于将所述信令消息发送给所述接收端设备，所述信令消息用于指示所述接收端设备拉取所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述扩展信息中包含与所述点云文件对应的应用场景信息。
根据本申请实施例的一个方面，提供了一种点云文件传输装置，所述装置包括：
接收模块，用于接收关联后的点云文件和扩展信息；关联后的所述点云文件和所述扩展信息，是所述发送端设备获取所述点云文件，以及与所述点云文件对应的所述扩展信息后，对所述点云文件和所述扩展信息进行关联获得的；所述点云文件是包含点云数据的文件；所述扩展信息是对目标业务提供支持的信息；
执行模块，用于基于所述扩展信息，通过所述点云数据执行所述目标业务。
在一种可能的实现方式中，所述装置还包括：解码模块，用于在执行模块基于所述扩展信息，通过所述点云数据执行所述目标业务之前，解码关联后的所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述接收模块，用于接收封装后的所述点云文件；封装后的所述点云文件中封装有所述扩展信息。
在一种可能的实现方式中，所述扩展信息为封装后的所述点云文件中的扩展信息项目。
在一种可能的实现方式中，响应于所述扩展信息项目被所述点云文件中的其它项目索引，所述扩展信息用于对第一点云数据的应用提供支持，所述第一点云数据是所述点云数据中，对应所述其它项目的部分；
响应于所述扩展信息项目未被所述点云文件中的其它项目索引，所述扩展信息用于对第二点云数据的应用提供支持，所述第二点云数据是所述点云数据中，对应所述扩展信息项目所在的文件层级的部分。
在一种可能的实现方式中，所述接收模块，用于，
接收信令消息，所述信令消息包含所述点云文件的标识以及所述扩展信息的标识；
根据所述信令消息，拉取所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述信令消息中还包括所述目标业务的业务标识，以及所述扩展信息的信息类型标识中的至少一种。
在一种可能的实现方式中，所述扩展信息中包含关联信息；所述关联信息用于指示所述点云文件中，与所述扩展信息关联的文件层级或者项目。
在一种可能的实现方式中，所述扩展信息中包含所述点云文件对应的应用场景信息。
根据本申请实施例的一个方面，提供了一种计算机设备，所述计算机设备包括处理器和存储器，所述存储器中存储有至少一条计算机程序，所述至少一条计算机程序由所述处理器加载并执行以实现上述点云文件传输方法或者点云文件应用方法。
根据本申请实施例的一个方面，提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有至少一条计算机程序，所述至少一条计算机程序由处理器加载并执行以实现上述点云文件传输方法或者点云文件应用方法。
还一方面，本申请实施例提供了一种计算机程序产品或计算机程序，该计算机程序产品或计算机程序包括计算机指令，该计算机指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该计算机设备执行上述点云文件传输方法或者点云文件应用方法。
本申请实施例提供的技术方案可以包括如下有益效果：
发送端设备可以将关联后的点云文件和扩展信息发送给接收端设备，接收端设备接收到关联后的点云文件和扩展信息后，可以根据扩展信息实现基于点云文件中的点云数据的目标业务，由于扩展信息能够携带除了点云数据之外的其它信息，因此，能够支持接收端设备实现需要除了点云数据之外的信息的业务，从而能够扩展基于点云数据的业务的应用场景。
附图说明
图1是本申请示例性示出的一种点云应用框架图；
图2是本申请一个实施例提供的通信系统的简化框图；
图3是本申请示例性示出的点云编码器和点云解码器在流式传输环境中的放置方式的示意图；
图4是本申请一个实施例提供的点云文件传输及应用方法的流程图；
图5是本申请一个实施例提供的点云文件传输及应用方法的流程图；
图6是图5所示实施例涉及的基于点云数据的定位流程示意图；
图7是本申请一个实施例提供的点云文件传输及应用方法的流程图；
图8是图7所示实施例涉及的基于点云数据的定位流程示意图；
图9是本申请一个实施例提供的点云文件传输装置的框图；
图10是本申请一个实施例提供的点云文件应用装置的框图；
图11是本申请一个实施例提供的计算机设备的结构框图。
具体实施方式
在对本申请实施例进行介绍说明之前，首先对本申请实施例涉及的一些名词概念进行介绍。
一、点云
点云是空间中一组无规则分布的、表达三维物体或场景的空间结构及表面属性的离散点集。点云中的每个点至少具有三维位置信息，根据应用场景的不同，还可能具有色彩、材质或其他信息。通常，点云中的每个点都具有相同数量的附加属性。
点云可以灵活方便地表达三维物体或场景的空间结构及表面属性，因而应用广泛，其主要应用场景可以归为两大类别：
a)机器感知点云，例如自主导航系统、实时巡检系统、地理信息系统、视觉分拣机器人、 抢险救灾机器人等等；
b)人眼感知点云，例如数字文化遗产、自由视点广播、三维沉浸通信、三维沉浸交互等点云应用场景。
点云的获取途径包括且不限于计算机生成、3D(3-Dimension，三维)激光扫描、3D摄影测量等几种。其中，计算机可以生成虚拟三维物体及场景的点云。3D扫描可以获得静态现实世界三维物体或场景的点云，每秒可以获取百万级点云。3D摄像可以获得动态现实世界三维物体或场景的点云，每秒可以获取千万级点云。此外，在医学领域，由磁共振成像(Magnetic Resonance Imaging，MRI)、电子计算机断层扫描(Computed Tomography，CT)、电磁定位信息，可以获得生物组织器官的点云。这些技术降低了点云数据获取成本和时间周期，提高了数据的精度。点云数据获取方式的变革，使大量点云数据的获取成为可能。伴随着大规模的点云数据不断积累，点云数据的高效存储、传输、发布、共享和标准化，成为点云应用的关键。
点云的编码方式可以分为基于传统视频编码的点云压缩(Video-based Point Cloud Compression，V-PCC)，以及基于几何模型的点云压缩(Geometry-based Point Cloud Compression，G-PCC)。
请参考图1，其示出了本申请实施例涉及的一种点云应用框架图。以G-PCC数据为例，在图1中，在发送端，一个真实世界的虚拟场景(A)是由一组摄像机或一个带有多个镜头和传感器的摄像设备11捕捉的。采集结果为源点云数据(B)。一个或多个点云帧被G-PCC编码器12编码为编码后的G-PCC比特流(E)，包括编码的几何比特流和属性比特流。然后，文件封装器13根据特定媒体容器文件格式，将一个或多个编码比特流(E)封装成用于文件回放的媒体文件(F)，或封装成用于流式传输的初始化段和媒体段的序列(Fs)。
文件封装器13还将元数据包含到文件或段中，(Fs)通过传递机制14传递给用户端；由用户侧的文件封装器15对(Fs)进行解封装，得到解封装后的一个或多个编码比特流(E’)，并通过G-PCC解码器16对(E’)解码得到解码后的一个或多个点云帧(D’)，并由呈现组件17在显示组件18上呈现一个或多个点云帧(D’)对应的虚拟场景(A’)。
二、高精地图
高精地图(HighDefinitionMap，HD Map)是点云的一种主要的应用场景。高精地图是一种高分辨率的，应用于自动驾驶领域的地图格式。
当前业界内，高精地图常见的格式如下：
导航数据标准(Navigation Data Standard，NDS)格式，是由汽车制造商和供应商联合发展创建的汽车等级导航数据库标准格式。
OpenDrive格式，OpenDrive是一种开放格式规范，用于描述道路网络的逻辑。其目的是标准化逻辑道路描述，以促进不同驾驶模拟器之间的数据交换。
高精地图相较于普通的导航地图的差别可以如下述表1所示：
表1
Figure PCTCN2021131225-appb-000001
高精地图的图层按自动驾驶中所起的作用大致可以化为三层：车道级路网图层、定位图 层和动态图层。
1)车道级路网图层——用于导航规划
主要是对路网精确的三维表征(厘米级精度)进行描述，并存储为结构化数据，主要可分为两大类：
道路数据：比如路面的几何结构、车道线类型(实线/虚线、单线/双线)、车道线颜色(白色、黄色)以及每个车道的(坡度、曲率、航向、高程等)数据属性等；
车道周边的固定对象信息：比如交通标志、交通信号灯等信息、车道限高、下水道口、障碍物以及其他道路细节，还包括高架物体、防护栏数目、道路边缘类型、路边地标等基础设施信息。
2)定位图层——用于车辆定位
该层所包含的元素，取决于自动驾驶汽车打算采用何种传感器来匹配定位图层进行定位，但目前自动驾驶汽车在定位方面的解决方案差异性较大，比如有基于视觉特征匹配定位方案，也有基于激光雷达点云特征匹配定位解决方案，还有基于视觉特征和激光雷达点云特征数据融合的定位方案；同时定位图层所包含元素还与自动驾驶车辆的应用场景相关；
未来图商有可能会根据不同的场景、不同的传感器生成不同的高精地图的定位图层。
3)动态图层——用于感知和考虑当前道路和交通状况的路线规划
现阶段对于高精度地图动态图层需要哪些信息要素也还没有定论，仍处于探讨研究的阶段。但动态图层包含的内容大致可分为两个的方面：实时路况和交通事件；例如：道路拥堵情况、施工情况、是否有交通事故、交通管制情况、天气情况等动态交通信息。由于路网每天都有变化，如整修、道路标识线磨损及重漆、交通标示改变等。这些变化需要及时反映在高精地图上以确保自动驾驶车辆的行驶安全。
如图2所示，其示出了本申请一个实施例提供的通信系统的简化框图。通信系统200包括多个设备，所述设备可通过例如网络250彼此通信。举例来说，通信系统200包括通过网络250互连的第一设备210和第二设备220。在图2的实施例中，第一设备210和第二设备220执行单向数据传输。举例来说，第一设备210可对点云数据(例如第一设备210采集的点云帧流)进行编码以通过网络250传输到第二设备220。已编码的点云数据以一个或多个已编码点云比特流形式传输。第二设备220可从网络250接收已编码点云数据，对已编码点云数据进行解码以恢复点云数据，并根据恢复的点云数据呈现点云。单向数据传输在媒体服务等应用中是较常见的。
在另一实施例中，通信系统200包括执行已编码点云数据的双向传输的第三设备230和第四设备240。对于双向数据传输，第三设备230和第四设备240中的每个设备可对点云数据进行编码，以通过网络250传输到第三设备230和第四设备240中的另一设备。第三设备230和第四设备240中的每个设备还可接收由第三设备230和第四设备240中的另一设备传输的已编码点云数据，且可对已编码点云数据进行解码以恢复点云数据，且可根据恢复的点云数据在可访问的显示装置上显示点云。
在图2的实施例中，第一设备210、第二设备220、第三设备230和第四设备240可为服务器、个人计算机和智能电话等计算机设备，但本申请公开的原理可不限于此。本申请实施例适用于PC(Personal Computer，个人计算机)、手机、平板电脑、虚拟现实/增强现实设备、媒体播放器和/或专用视频会议设备。网络250表示在第一设备210、第二设备220、第三设备230和第四设备240之间传送已编码点云数据的任何数目的网络，包括例如有线连线的和/或无线通信网络。通信网络250可在电路交换和/或分组交换信道中交换数据。该网络可包括电信网络、局域网、广域网和/或互联网。出于本申请的目的，除非在下文中有所解释，否则网络250的架构和拓扑对于本申请公开的操作来说可能是无关紧要的。
作为实施例，图3示出点云编码器和点云解码器在流式传输环境中的放置方式。本申请 所公开主题可同等地适用于其它支持点云的应用，包括例如虚拟3D会议、数字TV(电视)、在包括CD(Compact Disc，光盘)、DVD(Digital Versatile Disc，数字通用光盘)、存储棒等的数字介质上存储压缩点云等等。
流式传输系统可包括采集子系统313，所述采集子系统可包括三维相机等点云源301，所述视频源创建未压缩的点云数据流302。相较于已编码的点云数据304(或已编码的点云比特流)，点云数据流302被描绘为粗线以强调高数据量的点云数据流，点云数据流302可由电子装置320处理，所述电子装置320包括耦接到点云源301的点云编码器303。点云编码器303可包括硬件、软件或软硬件组合以实现或实施如下文更详细地描述的所公开主题的各方面。相较于点云数据流302，已编码的点云数据304(或已编码的点云比特流304)被描绘为细线以强调较低数据量的已编码的点云数据304(或已编码的点云比特流304)，其可存储在流式传输服务器305上以供将来使用。一个或多个流式传输客户端子系统，例如图3中的客户端子系统306和客户端子系统308，可访问流式传输服务器305以检索已编码的点云数据304的副本307和副本309。客户端子系统306可包括例如电子装置330中的点云解码器310。点云解码器310对已编码的点云数据的传入副本307进行解码，且产生可在显示器312(例如显示屏)或另一呈现装置(未描绘)上呈现的输出点云数据流311。在一些流式传输系统中，可根据某些点云编码/压缩标准对已编码的点云数据304、点云数据307和点云数据309(例如点云比特流)进行编码。
应注意，电子装置320和电子装置330可包括其它组件(未示出)。举例来说，电子装置320可包括点云解码器(未示出)，且电子装置330还可包括点云编码器(未示出)。其中，点云解码器用于对接收到的已编码点云数据进行解码；点云编码器用于对点云数据进行编码。
需要说明的一点是，本申请实施例提供的技术方案可以应用于信源编码标准(Audio Video coding Standard，AVS)，如AVS3或者下一代视频编解码标准等支持点云编码的标准中，本申请实施例对此不作限定。
目前面向个人的点云业务，主要涉及点云呈现的业务。即发送端设备对采集或生成的点云数据进行编码封装生成点云文件，并将点云文件传输给接收端设备，由接收端设备从点云文件中提取点云数据并向用户展示。然而，目前的点云业务中，呈现的点云由发送端设备进行封装和发送，无法携带除了点云数据之外的更多的信息，导致接收端设备也只能简单的进行呈现，无法基于点云数据实现更多样化的业务，导致基于点云数据的业务员的应用场景难以扩展。
本申请各个实施例所示的方案，提出了一种点云文件传输和应用方案。请参考图4，其示出了本申请一个实施例提供的点云文件传输及应用方法的流程图。如图4所示，该点云文件传输及应用方法的流程如下：
在点云文件传输方案中，发送端设备获取点云文件，以及与该点云文件对应的扩展信息(对应图4中的步骤S401)；该点云文件是包含点云数据的文件，该扩展信息是对目标业务提供支持的信息，该目标业务是通过该点云数据实现的业务；将关联后的该点云文件和该扩展信息传输给接收端设备(对应图4中的步骤S402)，以便该接收端设备基于该扩展信息，通过点云数据执行该目标业务。可选的，发送端设备可以在发送关联后的该点云文件和该扩展信息之前，对该点云文件和该扩展信息进行关联；在另一种可能的实现方式中，上述对该点云文件和该扩展信息进行关联的步骤也可以由发送端设备之外的其它设备执行。
在点云文件应用方案中，接收端设备接收发送端设备传输的，关联后的点云文件和扩展信息(对应图4中的步骤S402)；并基于该扩展信息，通过点云数据执行上述目标业务(对应图4中的步骤S403)。可选的，接收端设备可以在通过点云数据执行目标业务之前，解码关联后的点云文件和扩展信息；在另一种可能的实现方式中，上述解码关联后的点云文件和扩展信息的步骤也可以由接收端设备之外的其它设备执行。
在一种可能的实现方式中，上述目标业务是除了对点云数据进行呈现之外的，基于点云数据执行的业务。
例如，上述目标业务可以是高精地图场景下的定位业务、导航规划业务、点云数据之外的附加信息展示业务等等，本申请各个实施对于目标业务的业务形态不做限定。
通过上述方案，点云文件的发送端设备在发送点云文件之前，可以将点云文件与扩展信息进行关联，并将关联后的点云文件和扩展信息发送给接收端设备，接收端设备接收到关联后的点云文件和扩展信息后，可以根据扩展信息实现基于点云文件中的点云数据的目标业务，由于扩展信息能够携带除了点云数据之外的其它信息，因此，能够实现需要除了点云数据之外的信息的业务，从而能够扩展基于点云数据的业务的应用场景。
本申请实施例提供的方法，可以实现在基于编解码器的计算机设备中，其中，上述编解码器具有对点云数据进行编解码的功能。也就是说，上述接收端设备和发送端设备均可以是计算机设备，该计算机设备是指具备数据计算、处理和存储能力的电子设备，如PC、手机、平板电脑、媒体播放器、虚拟现实/增强现实设备、服务器等等。
另外，本申请所提供的方法可以单独使用或以任意顺序与其他方法合并使用。
本申请所提供的方法可应用于点云媒体系统的服务器端、播放器端以及中间节点等环节。
例如，在点云媒体编码节点(可以是服务器、无人机、手机终端等具备点云媒体编码能力的设备)，根据点云媒体的内容以及点云媒体的应用场景，获取对应的点云文件扩展信息；在点云媒体编码节点，对点云媒体进行封装时，将点云媒体的扩展信息与点云文件进行关联。该种关联可以依靠文件封装自身的关联性达到，也可以通过信令文件指示达到；传输点云媒体；在点云媒体解码节点，可以根据应用需求，灵活使用和呈现点云文件中的扩展信息。
在本申请所提供的方案中，发送端设备可以将点云文件和扩展信息关联至同一个文件中。例如，本申请所示的方案，可以在系统层添加若干描述性字段，包括文件封装层面的字段扩展，以支持对点云文件和扩展信息的关联。
请参考图5，其示出了本申请一个实施例提供的点云文件传输及应用方法的流程图。为了便于说明，仅以各步骤执行主体为计算机设备进行介绍说明。该方法可以包括如下几个步骤：
步骤501，发送端设备获取点云文件，以及与该点云文件对应的扩展信息；该点云文件是包含点云数据的文件，该扩展信息是对目标业务提供支持的信息，该目标业务是通过该点云数据实现的业务。
在本申请实施例中，点云媒体服务商可以预先创建点云文件，以及使得该点云文件支持目标业务所需要的扩展信息。
在一种可能的实现方式中，扩展信息是与点云文件中的点云数据结合使用，以实现除了点云数据呈现之外的目标业务的信息。
例如，以点云数据为数字博物馆的文物展品的数据为例，扩展信息可以包含文物的详细介绍信息，接收端设备可以在呈现点云数据的同时，附带呈现文物的详细介绍信息。
再例如，以点云数据为高精地图数据为例，扩展信息可以包括指示通过高精地图数据进行导航规划或者定位的信息，接收端设备可以在呈现点云数据的同时，进行导航路线的展示，或者，进行高精度的定位。
上述扩展信息的信息内容由目标业务的业务实现需求决定，本申请实施例对于扩展信息中包含的信息的形式以及作用不做限定。
步骤502，发送端设备将该扩展信息封装到该点云文件中，获得封装后的该点云文件，作为关联后的该点云文件和该扩展信息。
在本申请实施例中，发送端设备将扩展信息和点云文件封装在一起，生成新的点云文件，作为点云文件和扩展信息的关联结果。
在一种可能的实现方式中，该将该扩展信息封装到该点云文件中，包括：
基于目标项目类型，将该扩展信息封装为该点云文件中的扩展信息项目。
以点云数据是格式为国际标准化组织基本媒体文件格式(the International Organization for Standardization Basic Media File Format，ISOBMFF)为例，发送端设备可以在点云数据的ISOBMFF数据盒中定义新的item类型的扩展信息item，作为上述扩展信息项目。
在一种示例性的方案中，该item以“xitm”标识。
在一种可能的实现方式中，响应于该扩展信息项目被该点云文件中的其它项目索引，该扩展信息用于对第一点云数据的应用提供支持，该第一点云数据是上述点云数据中，对应其它项目的部分；
响应于该扩展信息项目未被该点云文件中的其它项目索引，该扩展信息用于对第二点云数据的应用提供支持，该第二点云数据是上述点云数据中，对应扩展信息项目所在的文件层级的部分。
在本申请实施例中，点云文件中可以包含多份点云数据，上述扩展信息可以对应点云文件中的部分点云数据，也可以对应上述点云文件中的全部点云数据。
比如，如果扩展信息项目被点云文件中某个项目索引，则通过索引关系来指示该扩展信息与该点云文件中的一份或多份点云数据之间的对应关系；如果该扩展信息项目未被点云文件中任意项目索引，则通过扩展信息项目所在的文件层级来指示该扩展信息与该点云文件中的一份或多份点云数据之间的对应关系。
在本申请实施例中，扩展信息item可以通过“xirf”类型的item索引数据盒链接至其他类型的item数据盒，即被其他类型的item数据盒索引。若扩展信息item被其他item数据盒索引，则扩展信息item对应的扩展信息属于索引它的数据盒。若扩展信息item不被其他item数据盒索引，则扩展信息item对应的扩展信息属于其所处的文件层级，即该扩展信息item描述对应的文件层级(file level)、媒体元数据层级(movie level)、轨道层级(track level)、媒体元数据片段层级(movie segment level)、或者轨道片段层级(track segment level)。
在一种可能的实现方式中，该扩展信息中包含该点云文件对应的应用场景信息。
以点云数据是高精地图数据为例，在本申请实施例的一种示例性方案中，对于上述扩展信息item，其对应的item属性数据盒如下：
Figure PCTCN2021131225-appb-000002
其中，上述语法定义中的各字段语义如下：
item_file_format指示扩展信息item的文件格式，其取值如下表2所示：
表2
item_file_format的值 含义
0 Xml文件
1 二进制文件
其他 保留
application_scenario指示item扩展信息的应用场景，其取值如下表3所示：
表3
application_scenario值 含义
0 高精地图应用
其他 保留
extension_info_description指示扩展信息的描述信息，为以空字符结尾的字符串。
map_format指示高精地图应用的地图格式，其取值如下表4所示：
表4
map_format的值 含义
0 OpenDrive地图格式
1 NDS地图格式
其他 保留
map_level指示高精地图的地图层级，其取值如下表5所示：
表5
map_level的值 含义
0 车道级路网图层
1 定位图层
2 动态图层
其他 保留
步骤503，发送端设备将关联后的该点云文件和该扩展信息传输给接收端设备，相应的，接收端设备接收关联后的该点云文件和该扩展信息。
在本申请实施例中，发送端设备在发送关联后的该点云文件和该扩展信息时，可以将封装后的该点云文件发送给接收端设备。
步骤504，接收端设备基于该扩展信息执行目标业务，该目标业务是基于该点云数据实现的业务。
在本申请实施例中，接收端设备可以解码关联后的点云文件和扩展信息，并基于该扩展信息，通过点云文件中的点云数据执行目标业务。
请参考图6，其示出了本申请实施例涉及的一种基于点云数据的定位流程示意图。如图6所示，以上述点云数据是高精地图数据，目标业务是定位业务为例，假设服务器端(发送端设备)存在高精地图数据的点云文件A1，且该高精地图以item形式封装为点云媒体文件。该高精地图数据是通过点云采集设备拍摄/扫描实际地图场景得到的点云数据。
同时，点云数据的服务商通过配置设备，针对该高精地图数据配置对应的地图信息(定位图层信息)，并以OpenDrive格式存储在服务器中，文件类型为xml文件，记为文件B。
在服务器端，在原有的点云文件A1的基础上，将xml文件B也作为item封装入文件中(步骤S61)，得到新的点云文件A2。
此时，点云文件A2中，存在“xitm”类型的item，该item通过“xirf”索引类型被索引至高精地图点云数据对应的item，且该item对应的item属性数据盒ExtensionItemProperty中各字段取值如下：
item_file_format＝0；
application_scenario＝0；
map_format＝0；
map_level＝1；
extension_info_description＝’hd map info’。
服务器端向客户端(接收端设备)传输点云文件A2(步骤S62)。
在点云媒体解码客户端，即可在进行定位时，通过地图信息索引到对应的点云数据，将点云数据用于定位分析(步骤S63)。
在图6所示的方案中，地图信息作为扩展信息，和点云数据绑定在一起，地图信息相当于一个指引信息，例如，地图信息指示客户端当前位置有一个红绿灯，则地图信息关联的点云数据就是构成红绿灯的点云数据。客户端在进行定位分析时，通过点云数据进行定位分析，例如，客户端采集各个方向上的本地点云数据，并将点云文件A2中与地图信息关联的点云数据与本地点云数据进行匹配，以确定该红绿灯与客户端之间的相对位置，并进一步通过该相对位置，结合红绿灯的位置，确定客户端当前所在的精确位置。
综上所述，本申请实施例所示的方案，通过上述方案，点云文件的发送端设备在发送点云文件之前，首先将扩展信息封装到点云文件中，以实现点云文件与扩展信息进行关联，并将封装后的点云文件发送给接收端设备，接收端设备接收到封装后的点云文件后，可以根据扩展信息实现基于点云文件中的点云数据的目标业务，由于扩展信息能够携带除了点云数据之外的其它信息，因此，能够实现需要除了点云数据之外的信息的业务，从而能够扩展基于点云数据的业务的应用场景。
在本申请所提供的方案中，发送端设备也可以在点云文件和扩展信息之外，建立点云文件和扩展信息的关联关系。例如，本申请所示的方案，可以在系统层添加若干描述性字段，包括系统信令层面的字段扩展，以支持对点云文件和扩展信息的关联。
请参考图7，其示出了本申请一个实施例提供的点云文件传输及应用方法的流程图。为了便于说明，仅以各步骤执行主体为计算机设备进行介绍说明。该方法可以包括如下几个步骤：
步骤701，发送端设备获取点云文件，以及与该点云文件对应的扩展信息；该点云文件是包含点云数据的文件，该扩展信息是对目标业务提供支持的信息，该目标业务是通过该点云数据实现的业务。
上述步骤可以参考图5所示实施例中的步骤501下的描述，此处不再赘述。
步骤702，发送端设备生成信令消息，该信令消息用于指示该扩展信息与该点云文件之间的关联关系。
在一种可能的实现方式中，该信令消息中包含该点云文件的标识以及该扩展信息的标识。
在一种可能的实现方式中，该扩展信息中包含关联信息；该关联信息用于指示该点云文件中，与该扩展信息关联的文件层级或者项目。
在一种可能的实现方式中，上述信令消息可以是基于动态图像专家组媒体传输协议(Moving Picture Experts Group Media Transport，MMT)的信令消息。
本申请实施例所示的扩展信息，除了在点云文件封装中指示外，还可以通过传输信令(即上述信令消息)，将点云文件和独立的扩展信息的文件关联起来。接收端设备请求点云文件、扩展信息的文件以及对应的信令消息后，可解析信令消息，以获取点云文件和扩展信息的文件的关联关系，从而根据扩展信息的文件中的内容，基于点云文件中的点云数据执行相应的目标业务对应的策略。
其中，上述信令消息的语法结构可以如下述表6所示：
表6
Figure PCTCN2021131225-appb-000003
上述扩展信息的语法结构可以如下述表7所示：
表7
Figure PCTCN2021131225-appb-000004
在上述表6和表7中，各字段语义如下：
extension_file_format指示扩展信息的文件格式；
extension_file_name_length和extension_file_name分别指示扩展信息的文件名长度和具体文件名，其中文件名长度不包含字符串的末位结束符；
extension_file_URL_length和URL_byte分别指示扩展信息文件的URL地址长度和具体地址信息。
application_scenario指示扩展信息的应用场景；
extension_info_description_length和extension_info_description分别指示扩展信息的描述字段长度和具体描述信息，其中描述字段长度不包含字符串的末位结束符；
map_format指示高精地图应用的地图格式；
map_level指示高精地图的地图层级；
associated_asset_id指示扩展信息关联的媒体文件的asset_id，其中asset_id为MMT标准定义的文件标识符；
associated_track_flag、associated_item_flag指示扩展信息是否关联到track层级以及某个具体的item，这两个标志位取值相互独立；
associated_track_id指示关联的轨道id；
associated_item_id指示关联的itemid。
步骤703，发送端设备将该信令消息、该扩展信息以及该点云文件获取为关联后的该点云文件和该扩展信息。
在本申请实施例中，发送端设备将生成的信令消息，以及扩展信息和点云文件一起作为关联后的点云文件和扩展信息，通过信令消息来向接收端设备指示扩展信息和点云文件之间的关联关系。
步骤704，发送端设备将关联后的该点云文件和该扩展信息传输给接收端设备，相应的，接收端设备接收关联后的该点云文件和该扩展信息。
在一种可能的实现方式中，该将关联后的该点云文件和该扩展信息传输给接收端设备，包括：
将该信令消息发送给该接收端设备，该信令消息用于指示该接收端设备拉取该点云文件和该扩展信息。
在本申请实施例中，发送端设备向接收端设备传输关联后的点云文件和扩展信息时，可以先向接收端设备发送信令消息，接收端设备接收到该信令消息后，基于该信令消息中的关联关系，向发送端设备请求点云文件和扩展信息。
在一种可能的实现方式中，该信令消息中还包括目标业务的业务标识，以及扩展信息的信息类型标识中的至少一种。
在本申请实施例中，由于点云文件与扩展信息通过信令消息进行关联，在传输时是可以独立的，因此，接收端设备可以根据使用情况，决定是否接收与点云文件关联的扩展信息。
其中，接收端设备可以通过信令消息中携带的业务标识以及扩展信息的信息类型标识中的至少一种来决定是否接收扩展信息。
例如，在上述高精地图场景中，高精地图的点云数据可以用于多种业务，而接收端设备可以设置开启/关闭这些业务；比如高精地图的点云数据可以用于定位业务和红绿灯提醒业务，假设接收端设备当前开启了定位业务，但是关闭了红绿灯提醒业务，则接收端设备接收到信令消息后，若信令消息中携带的业务标识指示定位业务，或者，信令消息中携带的信息类型标识指示该扩展信息是定位业务所需要的信息，则接收端设备可以向发送端设备请求并接收扩展信息，否则，接收端设备可以不向发送端设备请求该扩展信息，从而避免不必要的扩展信息的传输，节约系统资源。
步骤705，接收端设备基于该扩展信息执行目标业务，该目标业务是基于该点云数据实 现的业务。
例如，接收端设备基于该扩展信息，通过点云文件中的点云数据执行上述目标业务。
请参考图8，其示出了本申请实施例涉及的一种基于点云数据的定位流程示意图。如图8所示，以上述点云数据是高精地图数据，目标业务是定位业务为例，假设服务器端(发送端设备)存在高精地图数据的点云文件A，且该高精地图以item形式封装为点云媒体文件。该高精地图数据是通过点云采集设备拍摄/扫描实际地图场景得到的点云数据。
同时，点云数据的服务商通过配置设备，针对该高精地图数据配置对应的地图信息(定位图层信息)，并以OpenDrive格式存储在服务器中，文件类型为xml文件，记为文件B。
在服务器端，基于点云文件A和xml文件B生成信令消息C(步骤S81)，也就是将原有点云文件A和xml文件B的关联关系通过扩展信息的指示信令指示如下：
Extension_info_indication_message：
table_count＝1；
Extension_info_table：
extension_file_format＝0；
extension_file_name_length＝1；
extension_file_name＝’B’；
extension_file_URL_length＝4；
URL＝’x123’；
application_scenario＝0；
map_format＝0；
map_level＝1；
extension_info_description_length＝11；
extension_info_description＝’hd map info’；
associated_asset_id＝’asset_id_pcc’；
associated_track_flag＝true；
associated_item_flag＝true；
associated_track_id＝10；
associated_item_id＝101。
服务器端向客户端(接收端设备)传输点云文件A、xml文件B以及信令消息C(步骤S82)；
在点云媒体解码客户端，解析信令消息C，即可在进行定位时，通过地图信息索引到对应的点云数据，将点云数据用于定位分析(步骤S83)。
综上所述，本申请实施例所示的方案，通过上述方案，点云文件的发送端设备在发送点云文件之前，首先生成点云文件和扩展信息之间的关联文件(即信令消息)，以实现点云文件与扩展信息进行关联，并将点云文件、扩展信息和关联文件发送给接收端设备，接收端设备可以解析关联文件，以根据扩展信息实现基于点云文件中的点云数据的目标业务，由于扩展信息能够携带除了点云数据之外的其它信息，因此，能够实现需要除了点云数据之外的信息的业务，从而能够扩展基于点云数据的业务的应用场景。
下述为本申请装置实施例，可以用于执行本申请方法实施例。对于本申请装置实施例中未披露的细节，请参照本申请方法实施例。
请参考图9，其示出了本申请一个实施例提供的点云文件传输装置的框图。该装置具有实现上述方法示例的功能，所述功能可以由硬件执行相应的软件实现。该装置可以包括：
获取模块901，用于获取点云文件，以及所述点云文件对应的扩展信息；所述点云文件是包含点云数据的文件，所述扩展信息是对目标业务提供支持的信息，所述目标业务是通过 所述点云数据实现的业务；
传输模块902，用于将关联后的所述点云文件和所述扩展信息传输给接收端设备，以便所述接收端设备基于所述扩展信息执行所述目标业务。
在一种可能的实现方式中，所述装置还包括：关联模块903，用于在传输模块将关联后的所述点云文件和所述扩展信息传输给接收端设备之前，对所述点云文件和所述扩展信息进行关联。
在一种可能的实现方式中，所述关联模块903，用于将所述扩展信息封装到所述点云文件中，获得封装后的所述点云文件，作为关联后的所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述关联模块903，用于基于目标项目类型，将所述扩展信息封装为所述点云文件中的扩展信息项目，获得封装后的所述点云文件。
在一种可能的实现方式中，响应于所述扩展信息项目被所述点云文件中的其它项目索引，所述扩展信息用于对第一点云数据的应用提供支持，所述第一点云数据是所述点云数据中，对应所述其它项目的部分；
响应于所述扩展信息项目未被所述点云文件中的其它项目索引，所述扩展信息用于对第二点云数据的应用提供支持，所述第二点云数据是所述点云数据中，对应所述扩展信息项目所在的文件层级的部分。
在一种可能的实现方式中，所述关联模块903，用于，
生成信令消息，所述信令消息用于指示所述扩展信息与所述点云文件之间的关联关系；
将所述信令消息、所述扩展信息以及所述点云文件获取为关联后的所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述信令消息中包含所述点云文件的标识以及所述扩展信息的标识。
在一种可能的实现方式中，所述信令消息中还包括所述目标业务的业务标识，以及所述扩展信息的信息类型标识中的至少一种。
在一种可能的实现方式中，所述扩展信息中包含关联信息；所述关联信息用于指示所述点云文件中，与所述扩展信息关联的文件层级或者项目。
在一种可能的实现方式中，所述传输模块902，用于将所述信令消息发送给所述接收端设备，所述信令消息用于指示所述接收端设备拉取所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述扩展信息中包含与所述点云文件对应的应用场景信息。
综上所述，通过上述方案，点云文件的发送端设备可以将关联后的点云文件和扩展信息发送给接收端设备，接收端设备接收到关联后的点云文件和扩展信息后，可以根据扩展信息实现基于点云文件中的点云数据的目标业务，由于扩展信息能够携带除了点云数据之外的其它信息，因此，能够实现需要除了点云数据之外的信息的业务，从而能够扩展基于点云数据的业务的应用场景。
请参考图10，其示出了本申请一个实施例提供的点云文件应用装置的框图。该装置具有实现上述方法示例的功能，所述功能可以由硬件执行相应的软件实现。该装置可以包括：
接收模块1001，用于接收关联后的点云文件和扩展信息；关联后的所述点云文件和所述扩展信息，是发送端设备获取所述点云文件，以及所述点云文件对应的所述扩展信息后，对所述点云文件和所述扩展信息进行关联获得的；所述点云文件是包含点云数据的文件；
执行模块1002，用于基于所述扩展信息执行目标业务，所述目标业务是基于所述点云数据实现的业务。
在一种可能的实现方式中，所述装置还包括：解码模块，用于在执行模块基于所述扩展信息，通过所述点云数据执行所述目标业务之前，解码关联后的所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述接收模块1001，用于接收封装后的所述点云文件；封装后的所述点云文件中封装有所述扩展信息。
在一种可能的实现方式中，所述扩展信息为封装后的所述点云文件中的扩展信息项目。
在一种可能的实现方式中，响应于所述扩展信息项目被所述点云文件中的其它项目索引，所述扩展信息用于对第一点云数据的应用提供支持，所述第一点云数据是所述点云数据中，对应所述其它项目的部分；
响应于所述扩展信息项目未被所述点云文件中的其它项目索引，所述扩展信息用于对第二点云数据的应用提供支持，所述第二点云数据是所述点云数据中，对应所述扩展信息项目所在的文件层级的部分。
在一种可能的实现方式中，所述接收模块1001，用于，
接收信令消息，所述信令消息包含所述点云文件的标识以及所述扩展信息的标识；
根据所述信令消息，拉取所述点云文件和所述扩展信息。
在一种可能的实现方式中，所述信令消息中还包括所述目标业务的业务标识，以及所述扩展信息的信息类型标识中的至少一种。
在一种可能的实现方式中，所述扩展信息中包含关联信息；所述关联信息用于指示所述点云文件中，与所述扩展信息关联的文件层级或者项目。
在一种可能的实现方式中，所述扩展信息中包含所述点云文件对应的应用场景信息。
综上所述，通过上述方案，接收端设备接收到关联后的点云文件和扩展信息后，可以根据扩展信息实现基于点云文件中的点云数据的目标业务，由于扩展信息能够携带除了点云数据之外的其它信息，因此，能够实现需要除了点云数据之外的信息的业务，从而能够扩展基于点云数据的业务的应用场景。
请参考图11，其示出了本申请一个实施例提供的计算机设备的结构框图。该计算机设备可以是上文介绍的发送端设备，也可以是上文介绍的接收端设备。该计算机设备110可以包括：处理器111、存储器112、通信接口113、编码器/解码器114和总线115。
处理器111包括一个或者一个以上处理核心，处理器111通过运行软件程序以及模块，从而执行各种功能应用以及信息处理。
存储器112可用于存储计算机程序，处理器111用于执行该计算机程序，以实现上述图5或图7所示实施例涉及的方法中的全部或部分步骤。
通信接口113可用于与其它设备进行通信，如收发点云数据。
编码器/解码器114可用于实现编码和解码功能，如对点云数据进行编码和解码。
存储器112通过总线115与处理器111相连。
此外，存储器112可以由任何类型的易失性或非易失性存储设备或者它们的组合实现。
本领域技术人员可以理解，图11中示出的结构并不构成对计算机设备110的限定，可以包括比图示更多或更少的组件，或者组合某些组件，或者采用不同的组件布置。
在示例性实施例中，还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有至少一条计算机程序，所述至少一条计算机程序在被处理器执行时实现上述图5或图7所示实施例涉及的方法中的全部或部分步骤。
在示例性实施例中，还提供了一种计算机程序产品或计算机程序，该计算机程序产品或计算机程序包括计算机指令，该计算机指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该计算机设备执行上述图5或图7所示实施例涉及的方法中的全部或部分步骤。

Claims (24)

  1. 一种点云文件传输方法，由发送端设备执行，所述方法包括：
    获取点云文件，以及与所述点云文件对应的扩展信息；所述点云文件是包含点云数据的文件，所述扩展信息是对目标业务提供支持的信息，所述目标业务是通过所述点云数据实现的业务；
    将关联后的所述点云文件和所述扩展信息传输给接收端设备，以便所述接收端设备基于所述扩展信息，通过所述点云数据执行所述目标业务。
  2. 根据权利要求1所述的方法，将关联后的所述点云文件和所述扩展信息传输给接收端设备之前，还包括：
    对所述点云文件和所述扩展信息进行关联。
  3. 根据权利要求2所述的方法，所述对所述点云文件和所述扩展信息进行关联，包括：
    将所述扩展信息封装到所述点云文件中，获得封装后的所述点云文件，作为关联后的所述点云文件和所述扩展信息。
  4. 根据权利要求3所述的方法，所述将所述扩展信息封装到所述点云文件中，获得封装后的所述点云文件，包括：
    基于目标项目类型，将所述扩展信息封装为所述点云文件中的扩展信息项目，获得封装后的所述点云文件。
  5. 根据权利要求4所述的方法，
    响应于所述扩展信息项目被所述点云文件中的其它项目索引，所述扩展信息用于对第一点云数据的应用提供支持，所述第一点云数据是所述点云数据中，对应所述其它项目的部分；
    响应于所述扩展信息项目未被所述点云文件中的其它项目索引，所述扩展信息用于对第二点云数据的应用提供支持，所述第二点云数据是所述点云数据中，对应所述扩展信息项目所在的文件层级的部分。
  6. 根据权利要求2所述的方法，所述对所述点云文件和所述扩展信息进行关联，包括：
    生成信令消息，所述信令消息包含所述点云文件的标识以及所述扩展信息的标识；
    将所述信令消息、所述扩展信息以及所述点云文件获取为关联后的所述点云文件和所述扩展信息。
  7. 根据权利要求6所述的方法，所述信令消息中还包括所述目标业务的业务标识，以及所述扩展信息的信息类型标识中的至少一种。
  8. 根据权利要求6所述的方法，所述扩展信息中包含关联信息；所述关联信息用于指示所述点云文件中，与所述扩展信息关联的文件层级或者项目。
  9. 根据权利要求6所述的方法，所述将关联后的所述点云文件和所述扩展信息传输给接收端设备，包括：
    将所述信令消息发送给所述接收端设备，所述信令消息用于指示所述接收端设备拉取所述点云文件和所述扩展信息。
  10. 根据权利要求1至9任一所述的方法，所述扩展信息中包含与所述点云文件对应的应 用场景信息。
  11. 一种点云文件应用方法，由接收端设备执行，所述方法包括：
    接收关联后的点云文件和扩展信息；关联后的所述点云文件和所述扩展信息，是发送端设备获取所述点云文件，以及与所述点云文件对应的所述扩展信息后，对所述点云文件和所述扩展信息进行关联获得的；所述点云文件是包含点云数据的文件；所述扩展信息是对目标业务提供支持的信息；
    基于所述扩展信息，通过所述点云数据执行所述目标业务。
  12. 根据权利要求11所述的方法，基于所述扩展信息，通过所述点云数据执行所述目标业务之前，还包括：
    解码关联后的所述点云文件和所述扩展信息。
  13. 根据权利要求11所述的方法，所述接收关联后的点云文件和扩展信息，包括：
    接收封装后的所述点云文件；封装后的所述点云文件中封装有所述扩展信息。
  14. 根据权利要求13所述的方法，所述扩展信息为封装后的所述点云文件中的扩展信息项目。
  15. 根据权利要求14所述的方法，
    响应于所述扩展信息项目被所述点云文件中的其它项目索引，所述扩展信息用于对第一点云数据的应用提供支持，所述第一点云数据是所述点云数据中，对应所述其它项目的部分；
    响应于所述扩展信息项目未被所述点云文件中的其它项目索引，所述扩展信息用于对第二点云数据的应用提供支持，所述第二点云数据是所述点云数据中，对应所述扩展信息项目所在的文件层级的部分。
  16. 根据权利要求11所述的方法，所述接收关联后的点云文件和扩展信息，包括：
    接收信令消息，所述信令消息包含所述点云文件的标识以及所述扩展信息的标识；
    根据所述信令消息，拉取所述点云文件和所述扩展信息。
  17. 根据权利要求16所述的方法，所述信令消息中还包括所述目标业务的业务标识，以及所述扩展信息的信息类型标识中的至少一种。
  18. 根据权利要求16所述的方法，所述扩展信息中包含关联信息；所述关联信息用于指示所述点云文件中，与所述扩展信息关联的文件层级或者项目。
  19. 根据权利要求11至18任一所述的方法，所述扩展信息中包含与所述点云文件对应的应用场景信息。
  20. 一种点云文件传输装置，所述装置包括：
    获取模块，用于获取点云文件，以及与所述点云文件对应的扩展信息；所述点云文件是包含点云数据的文件，所述扩展信息是对目标业务提供支持的信息，所述目标业务是通过所述点云数据实现的业务；
    关联模块，用于对所述点云文件和所述扩展信息进行关联；
    传输模块，用于将关联后的所述点云文件和所述扩展信息传输给接收端设备，以便所述接收端设备基于所述扩展信息，通过所述点云数据执行所述目标业务。
  21. 一种点云文件应用装置，所述装置包括：
    接收模块，用于接收关联后的点云文件和扩展信息；关联后的所述点云文件和所述扩展信息，是发送端设备获取所述点云文件，以及与所述点云文件对应的所述扩展信息后，对所述点云文件和所述扩展信息进行关联获得的；所述点云文件是包含点云数据的文件；所述扩展信息是对目标业务提供支持的信息；
    解码模块，用于解码关联后的所述点云文件和所述扩展信息；
    执行模块，用于基于所述扩展信息，通过所述点云数据执行所述目标业务。
  22. 一种计算机设备，所述计算机设备包含处理器和存储器，所述存储器中存储有至少一条计算机程序；所述至少一条计算机程序由所述处理器加载并执行以实现如权利要求1至10任一所述的点云文件传输方法，或者，实现如权利要求11至19任一所述的点云文件应用方法。
  23. 一种计算机可读存储介质，所述存储介质中存储有至少一条计算机程序，所述至少一条计算机程序由处理器加载并执行以实现如权利要求1至10任一所述的点云文件传输方法，或者，实现如权利要求11至19任一所述的点云文件应用方法。
  24. 一种计算机程序产品，所述计算机程序产品包括计算机指令，所述计算机指令由计算机设备中的处理器执行，以实现如权利要求1至10任一所述的点云文件传输方法，或者，实现如权利要求11至19任一所述的点云文件应用方法。
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