WO2022188164A1 - Procédé de décodage d'attribut de nuage de points et procédé de codage d'attribut de nuage de points - Google Patents

Procédé de décodage d'attribut de nuage de points et procédé de codage d'attribut de nuage de points Download PDF

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WO2022188164A1
WO2022188164A1 PCT/CN2021/080539 CN2021080539W WO2022188164A1 WO 2022188164 A1 WO2022188164 A1 WO 2022188164A1 CN 2021080539 W CN2021080539 W CN 2021080539W WO 2022188164 A1 WO2022188164 A1 WO 2022188164A1
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quantization parameter
chrominance
chrominance channel
channel
offset
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PCT/CN2021/080539
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English (en)
Chinese (zh)
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李璞
郑萧桢
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2021/080539 priority Critical patent/WO2022188164A1/fr
Priority to CN202180083707.1A priority patent/CN116601672A/zh
Publication of WO2022188164A1 publication Critical patent/WO2022188164A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T9/00—Image coding
    • 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
    • H04N19/102—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or selection affected or controlled by the adaptive coding
    • H04N19/124—Quantisation

Definitions

  • the present application relates to the technical field of point cloud processing, and in particular, to a point cloud attribute decoding method and a point cloud attribute encoding method.
  • a point cloud is a representation of a three-dimensional object or scene, which is composed of 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. To accurately reflect information in space, the number of discrete points required is enormous. In order to reduce the bandwidth occupied by point cloud data storage and transmission, the point cloud data needs to be encoded and compressed.
  • the embodiments of the present application provide a point cloud attribute decoding method and a point cloud attribute encoding method, one of which is to reduce the number of bits used for point cloud data transmission.
  • a first aspect of the embodiments of the present application provides a point cloud attribute decoding method, including:
  • the color identifier indicates that the point cloud attribute does not contain color data, it is determined that there is no offset of the quantization parameter of the chrominance channel in the code stream.
  • a second aspect of the embodiments of the present application provides a point cloud attribute encoding method, including:
  • the offset of the quantization parameter of the chrominance channel is encoded to the code stream
  • the offset of the quantization parameter of the chrominance channel is not encoded.
  • a third aspect of the embodiments of the present application provides a point cloud attribute decoding method, including:
  • each chrominance channel in the plurality of chrominance channels calculate the quantization parameter of the chrominance channel according to the offset of the quantization parameter of the chrominance channel;
  • each chrominance channel use the quantization parameter of the chrominance channel to perform inverse quantization on the chrominance residual corresponding to the chrominance channel.
  • a fourth aspect of the embodiments of the present application provides a point cloud attribute encoding method, including:
  • each chrominance channel in the plurality of chrominance channels calculate the quantization parameter of the chrominance channel according to the offset of the quantization parameter of the chrominance channel;
  • the chrominance residual corresponding to the chrominance channel is quantized by using the quantization parameter of the chrominance channel.
  • a fifth aspect of the embodiments of the present application provides a point cloud attribute decoding method, including:
  • the offset of the quantization parameter of the chrominance channel is a signed number
  • the chrominance residual corresponding to the chrominance channel is inversely quantized by using the quantization parameter of the chrominance channel.
  • a sixth aspect of the embodiments of the present application provides a point cloud attribute encoding method, including:
  • the offset of the quantization parameter of the chrominance channel being a signed number
  • the chrominance residual corresponding to the chrominance channel is quantized by using the quantization parameter of the chrominance channel.
  • a seventh aspect of an embodiment of the present application provides a point cloud attribute decoding device, comprising: a processor and a memory storing a computer program, where the processor implements the following steps when executing the computer program:
  • the color identifier indicates that the point cloud attribute does not contain color data, it is determined that there is no offset of the quantization parameter of the chrominance channel in the code stream.
  • An eighth aspect of an embodiment of the present application provides a point cloud attribute encoding device, including: a processor and a memory storing a computer program, where the processor implements the following steps when executing the computer program:
  • the offset of the quantization parameter of the chrominance channel is encoded to the code stream
  • the offset of the quantization parameter of the chrominance channel is not encoded.
  • a ninth aspect of an embodiment of the present application provides a point cloud attribute decoding device, comprising: a processor and a memory storing a computer program, where the processor implements the following steps when executing the computer program:
  • each chrominance channel in the plurality of chrominance channels calculate the quantization parameter of the chrominance channel according to the offset of the quantization parameter of the chrominance channel;
  • each chrominance channel use the quantization parameter of the chrominance channel to perform inverse quantization on the chrominance residual corresponding to the chrominance channel.
  • a tenth aspect of the embodiments of the present application provides a point cloud attribute encoding device, including: a processor and a memory storing a computer program, where the processor implements the following steps when executing the computer program:
  • each chrominance channel in the plurality of chrominance channels calculate the quantization parameter of the chrominance channel according to the offset of the quantization parameter of the chrominance channel;
  • the chrominance residual corresponding to the chrominance channel is quantized by using the quantization parameter of the chrominance channel.
  • An eleventh aspect of the embodiments of the present application provides a point cloud attribute decoding device, including: a processor and a memory storing a computer program, where the processor implements the following steps when executing the computer program:
  • the offset of the quantization parameter of the chrominance channel is a signed number
  • the chrominance residual corresponding to the chrominance channel is inversely quantized by using the quantization parameter of the chrominance channel.
  • a twelfth aspect of an embodiment of the present application provides a point cloud attribute encoding device, comprising: a processor and a memory storing a computer program, where the processor implements the following steps when executing the computer program:
  • the offset of the quantization parameter of the chrominance channel being a signed number
  • the chrominance residual corresponding to the chrominance channel is quantized by using the quantization parameter of the chrominance channel.
  • a thirteenth aspect of an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the point cloud attribute decoding method of the first aspect.
  • a fourteenth aspect of an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the point cloud attribute encoding method of the second aspect.
  • a fifteenth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program implements the point cloud attribute decoding method of the third aspect when the computer program is executed by a processor.
  • a sixteenth aspect of an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the point cloud attribute encoding method of the fourth aspect.
  • a seventeenth aspect of an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the point cloud attribute decoding method of the fifth aspect.
  • An eighteenth aspect of an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the point cloud attribute encoding method of the sixth aspect.
  • the point cloud attribute encoding and decoding method provided by the embodiment of the present application can encode the offset of the quantization parameter of the chrominance channel only when the point cloud attribute of the point cloud to be encoded contains color data, and the point cloud attribute of the point cloud to be encoded
  • the offsets of the quantization parameters of the chroma channels may not be encoded when color data is not included, thereby saving bits.
  • FIG. 1 is a first flowchart of a point cloud attribute decoding method provided by an embodiment of the present application.
  • FIG. 2 is a first flowchart of a point cloud attribute encoding method provided by an embodiment of the present application.
  • FIG. 3 is a second flowchart of a point cloud attribute decoding method provided by an embodiment of the present application.
  • FIG. 4 is a second flowchart of a point cloud attribute encoding method provided by an embodiment of the present application.
  • FIG. 5 is a third flowchart of a point cloud attribute decoding method provided by an embodiment of the present application.
  • FIG. 6 is a third flowchart of a point cloud attribute encoding method provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a point cloud attribute decoding apparatus provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an apparatus for encoding a point cloud attribute provided by an embodiment of the present application.
  • a point cloud is a representation of a three-dimensional object or scene, which is composed of 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. To accurately reflect information in space, the number of discrete points required is enormous. In order to reduce the bandwidth occupied by point cloud data storage and transmission, the point cloud data needs to be encoded and compressed.
  • Point cloud data can include geometric data and attribute data.
  • the geometric data of the point cloud point may be the geometric coordinates of the point cloud point in three-dimensional space
  • the attribute data of the point cloud point may include one or more of the following: color, reflectance, Timestamps, transparency, normals corresponding to the slices where they are located, etc.
  • the geometric data and attribute data of the point cloud are usually encoded and decoded separately.
  • the point cloud geometry encoding and decoding may be performed first, and then the point cloud attribute encoding and decoding is performed after the point cloud geometry encoding and decoding is completed.
  • each point cloud point can be sorted according to the size of Morton code.
  • each point cloud point can also be sorted according to the size of Hilbert code. sort.
  • each point cloud point can calculate the corresponding Morton code and Hilbert code according to its geometric coordinates, so that according to the size of Morton code or Hilbert code, it can be divided into large to small or small to large. Sequential Sorts individual point cloud points.
  • each point cloud point is encoded and decoded in sequence according to Morton order or Hilbert order when performing geometric encoding and decoding on the point cloud, then each point cloud point after reconstructing the geometric data has Arranged in Morton order or Hilbert order, there is no need to reorder the point cloud first when encoding and decoding the point cloud attributes.
  • attribute prediction means that when the decoding end reconstructs the attribute value of the current point cloud point, the attribute value of the point cloud point that has been reconstructed (encoded and decoded) can be used to calculate the attribute prediction value of the current point cloud point. It is necessary to encode the difference between the actual value of the attribute of the current point cloud point and the predicted value of the attribute of the current point cloud point (that is, the attribute residual) into the code stream, and the decoding end can decode the attribute residual from the code stream. The attribute value of the current point cloud point is reconstructed by using the attribute residual and the attribute prediction value of the current point cloud point.
  • the encoding and decoding of point cloud attributes is carried out by means of attribute prediction, and the attribute residuals can be transmitted between the encoding end and the decoding end, which greatly reduces the amount of data to be transmitted and has the effect of data compression.
  • the attribute value of the point cloud point may be the attribute value of any of the aforementioned color, reflectivity, transparency, etc.
  • the point clouds can be arranged in Morton order, and the encoding end can traverse the point cloud points in the point cloud in Morton order.
  • the predicted value of its attribute can be set to 0, and the true value of the attribute of the current point cloud point can be recorded as A 0 , then
  • the current point cloud point can be calculated according to the attribute reconstruction value of several point cloud points before the Morton sequence (these point cloud points have been encoded and decoded)
  • the attribute prediction value of the point cloud point is A' i
  • the real value of the attribute of the current point cloud point can be recorded as A i
  • the encoding end may quantize the attribute residual before encoding the calculated attribute residual into the code stream.
  • Quantization can realize the compression of attribute residuals, thereby further reducing the amount of data transmitted. Specifically, quantization can map attribute residuals with similar numerical values to the same numerical value, that is, the attribute residuals with similar numerical values are no longer distinguished, but the numerical values of these attribute residuals are considered to be the same.
  • the values in the interval [1,3] can be mapped to 0, and the values in the interval [4, 6] is mapped to 1, then the quantized sequence can be changed to ⁇ 1,0,1,1,0,0 ⁇ , that is, ignoring the difference between 1, 2, 3 and between 4, 5, and 6 difference.
  • encoderShiftBit can be set according to requirements, for example, it can be set to 14.
  • QP is the quantization parameter. It can be seen that as long as the quantization parameter QP is determined, the quantization formula can be determined.
  • the quantization step size is negatively correlated with the accuracy of the quantized data, that is, the larger the quantization step size, the lower the accuracy of the quantized data, and the smaller the quantization step size, the higher the accuracy of the quantized data.
  • the larger the quantization step size is, the larger the difference between the ignored data will be. In this way, the compression rate of the data will be higher, and the accuracy of the data will be lost during the quantization process.
  • the accuracy of the data obtained after quantization will be higher.
  • the lower the value, the smaller the quantization step size the smaller the difference between the ignored data. In this way, the compression rate of the data will be lower, and the data will lose less precision during the quantization process, and the data obtained after quantization will be lower.
  • the quantization step size attrQuantStep is positively correlated with the quantization parameter QP. Therefore, the larger the quantization parameter, the lower the accuracy of the quantized data, and the smaller the quantization parameter, the lower the accuracy of the quantized data. higher.
  • the encoder can determine the MF corresponding to different QPs by looking up a table.
  • Table 1 is a table of quantization coefficients.
  • the encoder can use the quantization parameter QP as an index (the value of QP ranges from 0 to 63), and obtain the corresponding quantization coefficient MF through the above-mentioned quantization coefficient table query, so that the attribute residual can be quantified by MF. quantify.
  • the encoder can encode the quantized attribute residual into the code stream.
  • the decoding end can decode the quantized attribute residual from the code stream, and can perform inverse quantization on the quantized attribute residual.
  • the inverse quantized attribute residual can be compared with the attribute prediction value of the currently decoded point cloud point. Add up to reconstruct the attribute reconstruction value of the currently decoded point cloud point.
  • the encoding end may perform inverse quantization on the quantized attribute residual after completing the quantization of the attribute residual, and The attribute reconstruction value of the currently coded point cloud point is reconstructed by using the inverse quantized attribute residual and the attribute prediction value of the currently coded point cloud point.
  • the attribute prediction value of the current point cloud point is calculated according to the attribute reconstruction value of the point cloud point that has been encoded and decoded before the current point cloud point. After encoding and decoding, the attribute reconstruction value of the point cloud point can be reconstructed like the decoding end, and the attribute reconstruction value of the point cloud point can be used to calculate the attribute prediction value of the next point cloud point.
  • inverse quantization may be performed by the following inverse quantization formula:
  • the encoding end or the decoding end may determine the IMFs corresponding to different QPs by looking up a table.
  • Table 2 is an inverse quantization coefficient table.
  • the encoding end or the decoding end may use the quantization parameter QP as an index (the value of QP ranges from 0 to 63), and query the inverse quantization coefficient table to obtain the corresponding inverse quantization coefficient. IMF, so that IMF can be used to inverse quantize the quantized attribute residual.
  • point cloud properties include one or more properties such as color, reflectivity, timestamp, transparency, etc.
  • point cloud attributes different attributes of the point cloud are encoded and decoded separately.
  • the color property of the point cloud in one embodiment, the color of the point cloud can be represented on the YUV color space. In one example, if the color of the point cloud is represented in the RGB color space, the color can be converted from the RGB color space to the YUV color space.
  • the color of the point cloud can include a luminance channel and a chrominance channel. In this way, when encoding and decoding the color data of the point cloud, the luminance data of the luminance channel and the chrominance data of the chrominance channel of the color of the point cloud can be separately encoded and decoded.
  • the encoding end can use the chroma reconstruction value of the point cloud point that has been encoded and decoded to calculate the current encoded point cloud point.
  • the chrominance prediction value, and the chrominance residual of the currently coded point cloud point can be calculated by using the chrominance real value of the currently coded point cloud point and the chrominance prediction value.
  • the chrominance residual can be quantized. Specifically, the chrominance residual can be quantized by using the quantization parameter of the chrominance channel.
  • the quantization parameter of the chrominance channel can be used to quantize the chrominance residual.
  • the quantization parameter of the chrominance channel can be used to determine the quantization formula, so that the quantization formula can be used to quantize the chrominance residual.
  • the quantization parameter of the chrominance channel when performing inverse quantization on the quantized chrominance residual, can also be used to determine an inverse quantization formula, and the quantized chrominance residual can be inversely quantized by using the inverse quantization formula.
  • the quantization parameter of the chrominance channel may be obtained by adding the offset of the quantization parameter of the luminance channel and the quantization parameter of the chrominance channel.
  • the quantization parameter of the channel may be denoted as lumaQp
  • the offset of the quantization parameter of the chrominance channel can be used as a fixed syntax element to be encoded in the header information of the point cloud attribute.
  • Table 3 is the point cloud attribute provided by the embodiment of the present application. The first example of the header information.
  • Table 3 The first embodiment of header information of point cloud attributes
  • withColor color identification, used to indicate whether the point cloud attribute contains color data, its data type is a binary variable, in an example, when the value of withColor is '1', it means that the point cloud attribute contains color data, when A withColor value of '0' indicates that the point cloud attribute does not contain color data.
  • withRef reflectivity identifier, which is used to indicate whether the point cloud attribute contains reflectivity data. Its data type is a binary variable. In an example, when the value of withRef is '1', it means that the point cloud attribute contains reflectivity. Data, when the withRef value is '0', it means that the point cloud attribute does not contain reflectivity data.
  • cross_component_pred secondary prediction of attribute residual, its data type is a binary variable. In an example, when the value of cross_component_pred is '1', it means that secondary prediction of attribute residual is allowed, when the value of cross_component_pred is '0' ', it means that secondary prediction of attribute residuals is not allowed.
  • maxNumOfNeighbour The maximum number of neighbor points to be searched, whose data type is an unsigned integer, is used to control the search range of neighbor candidate points and the number of points cached by hardware during attribute prediction. In an example, maxNumOfNeighbours should not be greater than 1024.
  • maxNumOfPredictNeighbours The maximum number of neighbors selected for prediction, whose data type is an unsigned integer, is used to limit the number of neighbors selected during attribute prediction. In one example, maxNumOfPredictNeighbours should not be greater than 16.
  • numOflevelOfDetail the number of LoD layers, whose data type is an unsigned integer, used to control the number of LOD layers divided during attribute prediction. In an example, numOflevelOfDetail should not be greater than 32.
  • intraLodFlag LoD intra-layer prediction flag, its data type is a binary variable, which is used to control whether to enable intra-layer prediction. When the value of intraLodFlag is '1', intra-layer prediction is enabled, and when the value of intraLodFlag is '0' , turns off intra-layer prediction.
  • Transform The attribute transformation algorithm flag, whose data type is a binary variable, is used to control whether to use wavelet transform to encode attributes. When the value of Transform is '1', wavelet transform is used, and when the value of Transform is '0' , which encodes the attribute using the prediction method.
  • outputBitDepth The attribute output bit depth, whose data type is an unsigned integer, is used to control the attribute output bit depth.
  • the offset of the quantization parameter of the chrominance channel is fixed to be encoded into the code stream.
  • the point cloud attribute does not necessarily contain color data.
  • the point cloud attribute does not contain color data, since the point cloud color does not need to be encoded and decoded, it is also not necessary to use the offset of the quantization parameter of the chrominance channel. , if the offset of the quantization parameter of the chrominance channel is still encoded into the code stream, it will cause a certain bit waste.
  • FIG. 1 is a first flowchart of the point cloud attribute decoding method provided by the embodiment of the present application, and the method includes the following steps:
  • S108A Perform inverse quantization on the chrominance residual corresponding to the chrominance channel by using the quantization parameter of the chrominance channel.
  • the encoding end can obtain the point cloud to be encoded.
  • the point cloud to be encoded can be any point cloud.
  • the point cloud to be encoded may be a point cloud obtained by scanning a lidar.
  • the point cloud to be encoded may be a point cloud obtained by three-dimensional reconstruction using an image.
  • the point cloud to be encoded may also be obtained by Point clouds obtained by other means.
  • the point cloud attributes of the point cloud to be encoded can have various attributes, but they do not necessarily include color attributes. For example, if the point cloud to be encoded is a point cloud scanned by a lidar, since the lidar cannot obtain color information, the point cloud attribute of the point cloud to be encoded may not include color data. For another example, if the point cloud to be encoded is a point cloud obtained by three-dimensional reconstruction of an image, since the image includes color information, the point cloud attribute of the point cloud to be encoded may include color data.
  • the encoding end can generate a corresponding color identification according to whether the point cloud attribute of the point cloud to be encoded includes color data, and can encode the generated color identification into the code stream.
  • the color identification can be used to indicate whether the point cloud attribute of the point cloud to be encoded includes color data.
  • the color identifier can be the syntax element withColor in the point cloud attribute header information, then when the point cloud attribute of the point cloud to be encoded includes color data, a color identifier withColor with a value of '1' can be generated. When the point cloud attribute of the point cloud does not include color data, a color flag withColor with a value of '0' can be generated.
  • the encoder can calculate the quantization parameter of the chrominance channel according to the offset of the quantization parameter of the chrominance channel. Specifically, as described above, the encoding end may add the quantization parameter chromaQpOffset of the chrominance channel and the quantization parameter lumaQp of the luminance channel to calculate the quantization parameter chromaQp of the chrominance channel. After calculating the quantization parameter of the chrominance channel, the quantization parameter can be used to quantize the chrominance residual, and the quantized chrominance residual can be encoded into the code stream.
  • the chrominance residual may be obtained by the coding end using the difference between the actual chrominance value of the currently coded point cloud point and the chrominance predicted value of the currently coded point cloud point, and the chrominance prediction of the currently coded point cloud point
  • the value can be calculated by using the chroma reconstruction value of the point cloud point that has been encoded and decoded.
  • the offset of the quantization parameter of the chrominance channel is encoded into the code stream, so that the decoding end can decode the offset of the quantization parameter of the chrominance channel from the code stream.
  • the encoding end does not encode the offset of the quantization parameter of the chroma channel to the code stream, and the decoding end can determine There is no offset of the quantization parameter of the chrominance channel in the code stream, so there is no need to decode the offset of the quantization parameter of the chrominance channel.
  • the decoding end may calculate the quantization parameter of the chrominance channel according to the offset of the quantization parameter of the chrominance channel.
  • the calculation method is the same as the above, that is, the offset chromaQpOffset of the quantization parameter of the chroma channel and the quantization parameter lumaQp of the luminance channel can be added to obtain the quantization parameter chromaQp of the chroma channel.
  • the quantization parameter can be used to inversely quantize the quantized chrominance residual at the coding end decoded from the code stream, so that the inverse quantized chrominance residual can be used to reconstruct the current
  • the chrominance value of the decoded point cloud point specifically, the chroma residual error after inverse quantization can be added to the chroma prediction value of the currently decoded point cloud point, so as to obtain the chroma reconstruction of the currently decoded point cloud point value.
  • the point cloud attribute encoding and decoding method provided by the embodiment of the present application can encode the offset of the quantization parameter of the chrominance channel only when the point cloud attribute of the point cloud to be encoded contains color data, and the point cloud attribute of the point cloud to be encoded
  • the offsets of the quantization parameters of the chroma channels may not be encoded when color data is not included, thereby saving bits.
  • Table 4 is the second example of the header information of the point cloud attribute provided by the embodiment of the present application.
  • Table 4 Second embodiment of header information of point cloud attributes
  • chromaQpOffset is the offset of the quantization parameter of the chroma channel, which can be used to calculate the quantization parameter chromaQp of the chroma channel. Specifically, it can be calculated by the following formula:
  • chromaQp attribute_qp+chromaQpOffset
  • the quantization parameter chromaQp of the chrominance channel is obtained by adding the offset chromaQpOffset of the quantization parameter of the chrominance channel and the quantization parameter lumaQp of the luminance channel, and in the above embodiment of the header information of the point cloud attribute, the data of chromaQpOffset
  • the type is ue(v), and ue(v) represents the syntax element of the unsigned integer exponent Columbus encoding.
  • the result of adding chromaQpOffset and lumaQp chromaQp can only be greater than or equal to lumaQp, that is, the accuracy of the point cloud chroma after encoding and decoding is at most only The accuracy is the same as that of luminance, which cannot meet the need for higher accuracy of the chromaticity of the point cloud.
  • the data type of chromaQpOffset can be adjusted to a signed number, for example, the data type of chromaQpOffset can be set to se(v), where se(v) represents a signed integer exponential Golomb coding syntax element , so, chromaQpOffset can be a negative number, the result of adding chromaQpOffset and lumaQp chromaQp can be smaller than lumaQp, the quantization parameter of chrominance channel can be adjusted down, which expands the adjustable range of precision of point cloud chrominance data.
  • the offsets of the quantization parameters of the chrominance channel may be binarized using signed exponential Golomb.
  • Table 5 is the third example of the header information of the point cloud attribute provided by the embodiment of the present application.
  • Table 5 The third embodiment of header information of point cloud attributes
  • chromaQpOffset is the offset of the quantization parameter of the chrominance channel, but in some color representations, the color may include multiple chrominance channels, for example, may include a first chrominance channel and a second chrominance channel.
  • the first chrominance channel and the second chrominance channel may be a U chrominance channel and the other a V chrominance channel.
  • the first chrominance channel and the second chrominance channel may be a Cr chrominance channel and a Cb chrominance channel.
  • the first chrominance channel and the second chrominance channel may be a Pr chrominance channel and a Pb chrominance channel.
  • the first chrominance channel and the second chrominance channel may be a Pr chrominance channel and a Pb chrominance channel.
  • the offset of the quantization parameter of the chroma channel will be shared by multiple chroma channels, so that in the point cloud During color encoding and decoding, the chroma residuals corresponding to each chroma channel will be quantized using the same quantization parameters, which results in insufficient flexibility in point cloud color encoding and decoding.
  • the encoding end can encode the offset of the quantization parameter corresponding to the chrominance channel to the code stream for different chrominance channels, and can for each chrominance channel, according to its The offset of the corresponding quantization parameter is used to calculate the corresponding quantization parameter, so that the chrominance residual corresponding to different chrominance channels can be quantized by using different quantization parameters during quantization.
  • the decoding end can decode the offset of the quantization parameter corresponding to each chrominance channel from the code stream, and can use the offset of the corresponding quantization parameter to calculate the corresponding quantization parameter for each chrominance channel. , so that the chroma residuals of different chroma channels can be inversely quantized using different quantization parameters.
  • Table 6 is a fourth example of the header information of the point cloud attribute provided by this embodiment of the present application.
  • Table 6 Fourth embodiment of header information of point cloud attributes
  • the offset of the quantization parameter of the chrominance channel includes the offset of the quantization parameter of the Cb chrominance channel chromaQpOffsetCb and the offset of the quantization parameter of the Cr chrominance channel chromaQpOffsetCr, then the encoding end is in
  • both the offsets chromaQpOffsetCb and chromaQpOffsetCr of the quantization parameters of the two chrominance channels may be encoded into the code stream.
  • the decoding end decodes the offsets of the quantization parameters of the chrominance channel from the codestream
  • the offsets chromaQpOffsetCb and chromaQpOffsetCr of the quantization parameters of the two chrominance channels can also be decoded from the codestream.
  • the quantization parameter chromaQpCb of the Cb chrominance channel can be calculated. Specifically, it can be calculated by the following formula:
  • chromaQpCb attribute_qp+chromaQpOffsetCb;
  • the quantization parameter chromaQpCr of the Cr chrominance channel can be calculated. Specifically, it can be calculated by the following formula:
  • chromaQpCr attribute_qp+chromaQpOffsetCr;
  • the encoding end can use the quantization parameters corresponding to the chrominance channel itself when quantizing the chrominance residuals of different chrominance channels;
  • the terminal can use the quantization parameters corresponding to the chroma channels themselves, which improves the flexibility of point cloud color coding and decoding.
  • the encoder can encode a switch flag corresponding to the closed state into the code stream, and no longer encode the offsets of the quantization parameters of each chrominance channel.
  • the decoding end can decode the switch identification from the code stream.
  • the decoding end can determine that there is no offset of the quantization parameter of each chroma channel in the code stream, and can directly determine
  • the offsets of the quantization parameters of each chrominance channel are all preset values.
  • the preset value can be set according to actual requirements. In an example, the preset value can be 0, that is, when both chromaQpOffsetCb and chromaQpOffsetCr are 0, the encoder can encode the switch identifier corresponding to the off state to the code stream.
  • the encoding end can encode a corresponding open state.
  • the switch is identified to the code stream, and the offsets of the quantization parameters corresponding to each chrominance channel are also encoded into the code stream.
  • the decoding end can decode the code stream to obtain the switch identifier. Since the switch identifier corresponds to the ON state, the decoding end can continue to decode the code stream to obtain the offsets of the quantization parameters of each chrominance channel.
  • Table 7 is the fifth embodiment of the header information of the point cloud attribute provided by the embodiment of the present application.
  • Table 7 Fifth embodiment of header information of point cloud attributes
  • chromaQpOffsetEnableFlag may be the switch flag.
  • the quantization parameter of the chrominance channel when used to quantize or inversely quantize the chrominance residual, the quantization parameter of the chrominance channel can be used to determine the quantization formula or the inverse quantization formula.
  • the encoder when determining the quantization formula, the encoder can query the corresponding quantization coefficient MF in the quantization coefficient table (Table 1) according to the quantization parameter chromaQp of the chroma channel, and when determining the inverse quantization formula, the encoder or decoder can The corresponding inverse quantization coefficient IMF is queried in the inverse quantization coefficient table (Table 2) according to the quantization parameter chromaQp of the chrominance channel.
  • the value range of the quantization parameter chromaQp of the chrominance channel is 0-63.
  • the value of chromaQp may fall outside this range, resulting in data overflow.
  • the encoding end or the decoding end can calculate the quantization parameter of the chrominance channel. It is limited between the minimum quantization parameter corresponding to the chrominance channel and the maximum quantization parameter corresponding to the chrominance channel, and the quantization parameter of the chrominance channel after the limiting operation is used to quantize the chrominance residual.
  • the minimum quantization parameter corresponding to the chrominance channel and the maximum quantization parameter corresponding to the chrominance channel can be set according to the actual situation.
  • the minimum quantization parameter of can be 0, and the maximum quantization parameter corresponding to the chrominance channel can be 63. Of course, 0 and 63 here are only exemplary values.
  • the value range of the quantization parameter of the chroma channel may be independent of the value range of the quantization parameter of the luma channel, that is, the value range of chromaQp and the value range of lumaQp may be the same or different.
  • chromaMinQp the minimum quantization parameter corresponding to the chroma channel is recorded as chromaMinQp
  • maximum quantization parameter corresponding to the chroma channel is recorded as chromaMaxQp
  • minimum quantization parameter corresponding to the luma channel is recorded as lumaMinQp
  • maximum quantization parameter corresponding to the luma channel is recorded as lumaMaxQp
  • chromaMinQp Can be the same or different from lumaMinQp and can be the same or different from chromaMaxQp and lumaMaxQp.
  • Limiting the quantization parameters of the chroma channels can be implemented in various ways.
  • a clip operation can be performed on the calculated quantization parameters of the chrominance channel, and the following formula can be referred to:
  • chromaQp clip3(chromaMinQp, chromaMaxQp, attribute_qp+chromaQpOffset);
  • the meaning of clip3 is to truncate the third parameter (attribute_qp+chromaQpOffset) between the first parameter (chromaMinQp) and the second parameter (chromaMaxQp), that is, if the third parameter is smaller than the first parameter parameter, the output is the first parameter, if the third parameter is greater than the second parameter, the output is the second parameter, if the third parameter is between the first parameter and the second parameter, that is, the first parameter If the three parameters are greater than or equal to the first parameter and less than or equal to the second parameter, the third parameter is output.
  • the third parameter is output.
  • the limiting operation may be performed separately on the quantization parameters of each chrominance channel.
  • the quantization parameters of the chroma channel include chromaQpCb and chromaQpCr
  • the clip operation can be performed on chromaQpCb and chromaQpCr respectively, and the following formula can be referred to:
  • chromaQpCb clip3(chromaMinQp, chromaMaxQp, attribute_qp+chromaQpOffsetCb);
  • chromaQpCr clip3(chromaMinQp, chromaMaxQp, attribute_qp+chromaQpOffsetCr);
  • the quantization parameter of the chroma channel By limiting the quantization parameter of the chroma channel to be between the minimum quantization parameter and the maximum quantization parameter before using the quantization parameter of the chroma channel to quantize the chroma residual, the occurrence of data overflow can be prevented, and the subsequent quantization of the chroma residual quantification guarantees.
  • the point cloud attribute encoding and decoding method provided by the embodiment of the present application can encode the offset of the quantization parameter of the chrominance channel only when the point cloud attribute of the point cloud to be encoded contains color data, and the point cloud attribute of the point cloud to be encoded
  • the offsets of the quantization parameters of the chroma channels may not be encoded when color data is not included, thereby saving bits.
  • FIG. 2 is a first flowchart of a point cloud attribute encoding method provided by an embodiment of the present application, and the method includes:
  • the offset of the quantization parameter of the chrominance channel includes: the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • one of the first chrominance channel and the second chrominance channel is a Cb chrominance channel, and the other is a Cr chrominance channel.
  • the offset of the quantization parameter of the encoded chrominance channel to the code stream includes:
  • the offset of the quantization parameter of the first chrominance channel or the offset of the quantization parameter of the second chrominance channel is not a preset value, encode the switch flag corresponding to the ON state into the code stream, and The offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are encoded into the code stream.
  • the method further includes:
  • the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are both preset values, encode the switch flag corresponding to the off state to the code stream, and do not encode the The offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • the method before using the quantization parameter of the chrominance channel to quantize the chrominance residual corresponding to the chrominance channel, the method further includes:
  • the quantization parameter of the chrominance channel is limited between the minimum quantization parameter corresponding to the chrominance channel and the maximum quantization parameter corresponding to the chrominance channel.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the method further includes:
  • the chrominance residual corresponding to the quantized chrominance channel is encoded into the code stream.
  • the chrominance residual corresponding to the chrominance channel is obtained by making a difference between the actual chrominance value corresponding to the chrominance channel of the currently encoded point cloud point and the predicted chrominance value corresponding to the chrominance channel. .
  • the point cloud attribute encoding and decoding method provided by the embodiment of the present application can encode the offset of the quantization parameter of the chrominance channel only when the point cloud attribute of the point cloud to be encoded contains color data, and the point cloud attribute of the point cloud to be encoded
  • the offsets of the quantization parameters of the chroma channels may not be encoded when color data is not included, thereby saving bits.
  • FIG. 3 is a second flowchart of a point cloud attribute decoding method provided by an embodiment of the present application, and the method includes:
  • S302 Decode the offsets of the quantization parameters corresponding to each of the multiple chrominance channels from the code stream.
  • the plurality of chrominance channels include two chrominance channels.
  • the two chrominance channels include: a Cb chrominance channel and a Cr chrominance channel.
  • the offsets of the quantization parameters corresponding to each of the decoding multiple chrominance channels from the code stream include:
  • the offsets of the quantization parameters corresponding to each of the plurality of chrominance channels are decoded from the code stream.
  • the method further includes:
  • the color identifier indicates that the point cloud attribute does not contain color data, it is determined that there is no offset of the quantization parameter corresponding to each of the plurality of chrominance channels in the code stream.
  • the offsets of the quantization parameters corresponding to each of the decoding multiple chrominance channels from the code stream include:
  • the switch flag corresponds to an on state
  • the offsets of the quantization parameters corresponding to each of the multiple chrominance channels are decoded from the code stream.
  • the method further includes:
  • the switch identifier corresponds to an off state, it is determined that there is no offset of the quantization parameter corresponding to each of the plurality of chrominance channels in the code stream.
  • the method further includes:
  • the switch identifier corresponds to an off state, it is determined that the offsets of the quantization parameters corresponding to the plurality of chrominance channels are all preset values.
  • the method before using the quantization parameter of the chrominance channel to perform inverse quantization on the chrominance residual corresponding to the chrominance channel, the method further includes:
  • the quantization parameter of the chrominance channel is limited between the minimum quantization parameter corresponding to the chrominance channel and the maximum quantization parameter corresponding to the chrominance channel.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the inverse quantized chroma residual corresponding to the chroma channel is used to calculate the chroma reconstruction value corresponding to the chroma channel of the currently decoded point cloud point.
  • the chroma reconstruction value corresponding to the chroma channel is the chroma residual corresponding to the inverse quantized chroma channel and the chroma prediction value corresponding to the chroma channel of the currently decoded point cloud point. obtained by adding.
  • syntax elements of offsets of respective quantization parameters are configured for each chroma channel, so that different chroma channels have their corresponding quantization parameters, and different chroma
  • the chroma residual of the channel can be quantized or inverse quantized by different quantization parameters, which improves the flexibility of point cloud color coding and decoding.
  • FIG. 4 is a second flowchart of a point cloud attribute encoding method provided by an embodiment of the present application, and the method includes:
  • S402 Encode the offsets of the quantization parameters corresponding to each of the multiple chrominance channels into a code stream.
  • the plurality of chrominance channels include two chrominance channels.
  • the two chrominance channels include: a Cb chrominance channel and a Cr chrominance channel.
  • encoding the offsets of the quantization parameters corresponding to the multiple chrominance channels into the code stream includes:
  • the offsets of the quantization parameters corresponding to the multiple chrominance channels are encoded into the code stream.
  • the method further includes:
  • the offset of the quantization parameter corresponding to each of the plurality of chrominance channels is not encoded.
  • encoding the offsets of the quantization parameters corresponding to the multiple chrominance channels into the code stream includes:
  • any of the offsets of the quantization parameters corresponding to the multiple chroma channels is not a preset value, encode the switch flag corresponding to the on state to the code stream, and quantize the corresponding quantization parameters of the multiple chroma channels
  • the offset of the parameter is encoded into the codestream.
  • the method further includes:
  • the offsets of the quantization parameters corresponding to the multiple chrominance channels are all preset values, encode the switch flag corresponding to the off state to the code stream, and do not encode the offsets of the quantization parameters corresponding to the multiple chrominance channels. shift.
  • the method before using the quantization parameter of the chrominance channel to quantize the chrominance residual corresponding to the chrominance channel, the method further includes:
  • the quantization parameter of the chrominance channel is limited between the minimum quantization parameter corresponding to the chrominance channel and the maximum quantization parameter corresponding to the chrominance channel.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the method further includes:
  • the chrominance residuals corresponding to each of the quantized chrominance channels are encoded into the code stream.
  • the chrominance residual corresponding to the chrominance channel is obtained by making a difference between the actual chrominance value corresponding to the chrominance channel of the currently encoded point cloud point and the predicted chrominance value corresponding to the chrominance channel. .
  • syntax elements of offsets of respective quantization parameters are configured for each chroma channel, so that different chroma channels have their corresponding quantization parameters, and different chroma
  • the chroma residual of the channel can be quantized or inverse quantized by different quantization parameters, which improves the flexibility of point cloud color coding and decoding.
  • FIG. 5 is a third flowchart of a point cloud attribute decoding method provided by an embodiment of the present application, and the method includes:
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel includes: the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • one of the first chrominance channel and the second chrominance channel is a Cb chrominance channel, and the other is a Cr chrominance channel.
  • the offset of the quantization parameter of the decoded chrominance channel from the code stream includes:
  • the switch identifier corresponds to an on state
  • the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are decoded from the code stream.
  • the method further includes:
  • the switch flag corresponds to an off state, it is determined that the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel do not exist in the code stream.
  • the method further includes:
  • the switch flag corresponds to an off state, it is determined that the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are both preset values.
  • the offset of the quantization parameter of the decoded chrominance channel from the code stream includes:
  • the offset of the quantization parameter of the chrominance channel is decoded from the code stream.
  • the method further includes:
  • the color identifier indicates that the point cloud attribute does not contain color data, it is determined that the offset of the quantization parameter of the chrominance channel does not exist in the code stream.
  • the color identifier is decoded from the code stream first, and if the color identifier indicates that the point cloud attribute contains color data, then the switch identifier is decoded from the code stream.
  • the method before using the quantization parameter of the chrominance channel to perform inverse quantization on the chrominance residual corresponding to the chrominance channel, the method further includes:
  • the quantization parameter of the chrominance channel is limited between the minimum quantization parameter corresponding to the chrominance channel and the maximum quantization parameter corresponding to the chrominance channel.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the inverse quantized chroma residual corresponding to the chroma channel is used to calculate the chroma reconstruction value corresponding to the chroma channel of the currently decoded point cloud point.
  • the chroma reconstruction value corresponding to the chroma channel is the chroma residual corresponding to the inverse quantized chroma channel and the chroma prediction value corresponding to the chroma channel of the currently decoded point cloud point. obtained by adding.
  • the offset of the quantization parameter of the chrominance channel is a signed number. Therefore, by adjusting the offset of the quantization parameter of the chrominance channel, the quantization of the chrominance channel can be The value of the parameter is lowered to expand the adjustable range of the precision of the point cloud chromaticity data.
  • FIG. 6 is a third flowchart of a point cloud attribute encoding method provided by an embodiment of the present application, and the method includes:
  • S602. Encode the offset of the quantization parameter of the chrominance channel into a code stream.
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the offset of the quantization parameter of the chrominance channel includes: the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • one of the first chrominance channel and the second chrominance channel is a Cb chrominance channel, and the other is a Cr chrominance channel.
  • encoding the offset of the quantization parameter of the chrominance channel into the code stream includes:
  • the offset of the quantization parameter of the first chrominance channel or the offset of the quantization parameter of the second chrominance channel is not a preset value, encode the switch flag corresponding to the ON state into the code stream, and The offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are encoded into the code stream.
  • the method further includes:
  • the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are both preset values, encode the switch flag corresponding to the off state to the code stream, and do not encode the The offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • encoding the offset of the quantization parameter of the chrominance channel into the code stream includes:
  • the offset of the quantization parameter of the chrominance channel is encoded into the code stream.
  • the method further includes:
  • the offset of the quantization parameter of the chrominance channel is not encoded.
  • the color identifier is encoded into the code stream first, and if the color identifier indicates that the point cloud attribute contains color data, then the switch identifier is encoded into the code stream.
  • the method before using the quantization parameter of the chrominance channel to quantize the chrominance residual corresponding to the chrominance channel, the method further includes:
  • the quantization parameter of the chrominance channel is limited between the minimum quantization parameter corresponding to the chrominance channel and the maximum quantization parameter corresponding to the chrominance channel.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the method further includes:
  • the chrominance residual corresponding to the quantized chrominance channel is encoded into the code stream.
  • the chrominance residual corresponding to the chrominance channel is obtained by making a difference between the actual chrominance value corresponding to the chrominance channel of the currently encoded point cloud point and the predicted chrominance value corresponding to the chrominance channel. .
  • the offset of the quantization parameter of the chrominance channel is a signed number. Therefore, by adjusting the offset of the quantization parameter of the chrominance channel, the quantization of the chrominance channel can be The value of the parameter is lowered to expand the adjustable range of the precision of the point cloud chromaticity data.
  • FIG. 7 is a schematic structural diagram of a point cloud attribute decoding device provided by an embodiment of the present application, and the device includes:
  • the color identifier indicates that the point cloud attribute does not contain color data, it is determined that there is no offset of the quantization parameter of the chrominance channel in the code stream.
  • the offset of the quantization parameter of the chrominance channel includes: the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • one of the first chrominance channel and the second chrominance channel is a Cb chrominance channel, and the other is a Cr chrominance channel.
  • the processor decodes the offset of the quantization parameter of the chrominance channel from the code stream, it is used for:
  • the switch identifier corresponds to an on state
  • the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are decoded from the code stream.
  • the processor is also used for:
  • the switch flag corresponds to an off state, it is determined that the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel do not exist in the code stream.
  • the processor is also used for:
  • the switch flag corresponds to an off state, it is determined that the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are both preset values.
  • the processor is also used for:
  • the quantization parameter of the chrominance channel is limited to the minimum quantization parameter corresponding to the chrominance channel and the between the maximum quantization parameters corresponding to the chrominance channels.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the inverse quantized chroma residual corresponding to the chroma channel is used to calculate the chroma reconstruction value corresponding to the chroma channel of the currently decoded point cloud point.
  • the chroma reconstruction value corresponding to the chroma channel is the chroma residual corresponding to the inverse quantized chroma channel and the chroma prediction value corresponding to the chroma channel of the currently decoded point cloud point. obtained by adding.
  • the point cloud attribute encoding and decoding device provided in the embodiment of the present application can encode the offset of the quantization parameter of the chrominance channel only when the point cloud attribute of the point cloud to be encoded includes color data, and can encode the offset of the quantization parameter of the chrominance channel only when the point cloud attribute of the point cloud to be encoded contains color data, and the point cloud attribute of the point cloud to be encoded
  • the offsets of the quantization parameters of the chroma channels may not be encoded when color data is not included, thereby saving bits.
  • FIG. 8 is a schematic structural diagram of a point cloud attribute encoding device provided by an embodiment of the present application, and the device includes:
  • the offset of the quantization parameter of the chrominance channel is encoded to the code stream
  • the offset of the quantization parameter of the chrominance channel is not encoded.
  • the offset of the quantization parameter of the chrominance channel includes: the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • one of the first chrominance channel and the second chrominance channel is a Cb chrominance channel, and the other is a Cr chrominance channel.
  • the processor when encoding the offset of the quantization parameter of the chrominance channel to the code stream, the processor is used for:
  • the offset of the quantization parameter of the first chrominance channel or the offset of the quantization parameter of the second chrominance channel is not a preset value, encode the switch flag corresponding to the ON state into the code stream, and The offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are encoded into the code stream.
  • the processor is also used for:
  • the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are both preset values, encode the switch flag corresponding to the off state to the code stream, and do not encode the The offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • the processor is also used for:
  • the quantization parameter of the chrominance channel Before using the quantization parameter of the chrominance channel to quantize the chrominance residual corresponding to the chrominance channel, limit the quantization parameter of the chrominance channel to the minimum quantization parameter corresponding to the chrominance channel and the chrominance channel. between the maximum quantization parameters corresponding to the chroma channels.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the processor is also used for:
  • the chrominance residual corresponding to the quantized chrominance channel is encoded into the code stream.
  • the chrominance residual corresponding to the chrominance channel is obtained by making a difference between the actual chrominance value corresponding to the chrominance channel of the currently encoded point cloud point and the predicted chrominance value corresponding to the chrominance channel. .
  • the point cloud attribute encoding and decoding device provided in the embodiment of the present application can encode the offset of the quantization parameter of the chrominance channel only when the point cloud attribute of the point cloud to be encoded includes color data, and can encode the offset of the quantization parameter of the chrominance channel only when the point cloud attribute of the point cloud to be encoded contains color data, and the point cloud attribute of the point cloud to be encoded
  • the offsets of the quantization parameters of the chroma channels may not be encoded when color data is not included, thereby saving bits.
  • the embodiment of the present application also provides a point cloud attribute decoding device, the structure of which can be referred to FIG. 7 , the device includes: a processor and a memory storing a computer program, and the processor implements the following steps when executing the computer program:
  • each chrominance channel in the plurality of chrominance channels calculate the quantization parameter of the chrominance channel according to the offset of the quantization parameter of the chrominance channel;
  • each chrominance channel use the quantization parameter of the chrominance channel to perform inverse quantization on the chrominance residual corresponding to the chrominance channel.
  • the plurality of chrominance channels include two chrominance channels.
  • the two chrominance channels include: a Cb chrominance channel and a Cr chrominance channel.
  • the processor decodes the offsets of the quantization parameters corresponding to each of the multiple chrominance channels from the code stream, it is used for:
  • the offsets of the quantization parameters corresponding to each of the plurality of chrominance channels are decoded from the code stream.
  • the processor is also used for:
  • the color identifier indicates that the point cloud attribute does not contain color data, it is determined that there is no offset of the quantization parameter corresponding to each of the plurality of chrominance channels in the code stream.
  • the processor decodes the offsets of the quantization parameters corresponding to each of the multiple chrominance channels from the code stream, it is used for:
  • the switch flag corresponds to an on state
  • the offsets of the quantization parameters corresponding to each of the multiple chrominance channels are decoded from the code stream.
  • the processor is also used for:
  • the switch identifier corresponds to an off state, it is determined that there is no offset of the quantization parameter corresponding to each of the plurality of chrominance channels in the code stream.
  • the processor is also used for:
  • the switch identifier corresponds to an off state, it is determined that the offsets of the quantization parameters corresponding to the plurality of chrominance channels are all preset values.
  • the processor is also used for:
  • the quantization parameter of the chrominance channel is limited to the minimum quantization parameter corresponding to the chrominance channel and the between the maximum quantization parameters corresponding to the chrominance channels.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the inverse quantized chroma residual corresponding to the chroma channel is used to calculate the chroma reconstruction value corresponding to the chroma channel of the currently decoded point cloud point.
  • the chroma reconstruction value corresponding to the chroma channel is the chroma residual corresponding to the inverse quantized chroma channel and the chroma prediction value corresponding to the chroma channel of the currently decoded point cloud point. obtained by adding.
  • syntax elements of offsets of respective quantization parameters are configured for each chroma channel, so that different chroma channels have their corresponding quantization parameters, and different chroma
  • the chroma residual of the channel can be quantized or inverse quantized by different quantization parameters, which improves the flexibility of point cloud color coding and decoding.
  • An embodiment of the present application also provides a point cloud attribute encoding device, the structure of which can be referred to FIG. 8 , the device includes: a processor and a memory storing a computer program, and the processor implements the following steps when executing the computer program:
  • each chrominance channel in the plurality of chrominance channels calculate the quantization parameter of the chrominance channel according to the offset of the quantization parameter of the chrominance channel;
  • the chrominance residual corresponding to the chrominance channel is quantized by using the quantization parameter of the chrominance channel.
  • the plurality of chrominance channels include two chrominance channels.
  • the two chrominance channels include: a Cb chrominance channel and a Cr chrominance channel.
  • the processor encodes the offsets of the quantization parameters corresponding to each of the multiple chrominance channels into the code stream, it is used for:
  • the offsets of the quantization parameters corresponding to the multiple chrominance channels are encoded into the code stream.
  • the processor is also used for:
  • the offset of the quantization parameter corresponding to each of the plurality of chrominance channels is not encoded.
  • the processor encodes the offsets of the quantization parameters corresponding to each of the multiple chrominance channels into the code stream, it is used for:
  • any of the offsets of the quantization parameters corresponding to the multiple chroma channels is not a preset value, encode the switch flag corresponding to the on state to the code stream, and quantize the corresponding quantization parameters of the multiple chroma channels
  • the offset of the parameter is encoded into the codestream.
  • the processor is also used for:
  • the offsets of the quantization parameters corresponding to the multiple chrominance channels are all preset values, encode the switch flag corresponding to the off state to the code stream, and do not encode the offsets of the quantization parameters corresponding to the multiple chrominance channels. shift.
  • the processor is also used for:
  • the quantization parameter of the chrominance channel Before using the quantization parameter of the chrominance channel to quantize the chrominance residual corresponding to the chrominance channel, limit the quantization parameter of the chrominance channel to the minimum quantization parameter corresponding to the chrominance channel and the chrominance channel. between the maximum quantization parameters corresponding to the chroma channels.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the offset of the quantization parameter of the chrominance channel is a signed number.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the processor is also used for:
  • the chrominance residuals corresponding to each of the quantized chrominance channels are encoded into the code stream.
  • the chrominance residual corresponding to the chrominance channel is obtained by making a difference between the actual chrominance value corresponding to the chrominance channel of the currently encoded point cloud point and the predicted chrominance value corresponding to the chrominance channel. .
  • syntax elements of offsets of respective quantization parameters are configured for each chroma channel, so that different chroma channels have their corresponding quantization parameters, and different chroma
  • the chroma residual of the channel can be quantized or inverse quantized by different quantization parameters, which improves the flexibility of point cloud color coding and decoding.
  • the embodiment of the present application also provides a point cloud attribute decoding device, the structure of which can be referred to FIG. 7 , the device includes: a processor and a memory storing a computer program, and the processor implements the following steps when executing the computer program:
  • the offset of the quantization parameter of the chrominance channel is a signed number
  • the chrominance residual corresponding to the chrominance channel is inversely quantized by using the quantization parameter of the chrominance channel.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the offset of the quantization parameter of the chrominance channel includes: the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • one of the first chrominance channel and the second chrominance channel is a Cb chrominance channel, and the other is a Cr chrominance channel.
  • the processor decodes the offset of the quantization parameter of the chrominance channel from the code stream, it is used for:
  • the switch identifier corresponds to an on state
  • the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are decoded from the code stream.
  • the processor is also used for:
  • the switch flag corresponds to an off state, it is determined that the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel do not exist in the code stream.
  • the processor is also used for:
  • the switch flag corresponds to an off state, it is determined that the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are both preset values.
  • the processor decodes the offset of the quantization parameter of the chrominance channel from the code stream, it is used for:
  • the offset of the quantization parameter of the chrominance channel is decoded from the code stream.
  • the processor is also used for:
  • the color identifier indicates that the point cloud attribute does not contain color data, it is determined that the offset of the quantization parameter of the chrominance channel does not exist in the code stream.
  • the color identifier is decoded from the code stream first, and if the color identifier indicates that the point cloud attribute contains color data, then the switch identifier is decoded from the code stream.
  • the processor is also used for:
  • the quantization parameter of the chrominance channel is limited to the minimum quantization parameter corresponding to the chrominance channel and the between the maximum quantization parameters corresponding to the chrominance channels.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the inverse quantized chroma residual corresponding to the chroma channel is used to calculate the chroma reconstruction value corresponding to the chroma channel of the currently decoded point cloud point.
  • the chroma reconstruction value corresponding to the chroma channel is the chroma residual corresponding to the inverse quantized chroma channel and the chroma prediction value corresponding to the chroma channel of the currently decoded point cloud point. obtained by adding.
  • the offset of the quantization parameter of the chrominance channel is a signed number. Therefore, by adjusting the offset of the quantization parameter of the chrominance channel, the quantization of the chrominance channel can be The value of the parameter is lowered to expand the adjustable range of the precision of the point cloud chromaticity data.
  • An embodiment of the present application also provides a point cloud attribute encoding device, the structure of which can be referred to FIG. 8 , the device includes: a processor and a memory storing a computer program, and the processor implements the following steps when executing the computer program:
  • the offset of the quantization parameter of the chrominance channel being a signed number
  • the chrominance residual corresponding to the chrominance channel is quantized by using the quantization parameter of the chrominance channel.
  • the offset of the quantization parameter of the chrominance channel is binarized by using signed exponential Golomb.
  • the offset of the quantization parameter of the chrominance channel includes: the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • one of the first chrominance channel and the second chrominance channel is a Cb chrominance channel, and the other is a Cr chrominance channel.
  • the processor encodes the offset of the quantization parameter of the chrominance channel into the code stream, it is used for:
  • the offset of the quantization parameter of the first chrominance channel or the offset of the quantization parameter of the second chrominance channel is not a preset value, encode the switch flag corresponding to the ON state into the code stream, and The offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are encoded into the code stream.
  • the processor is also used for:
  • the offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel are both preset values, encode the switch flag corresponding to the off state to the code stream, and do not encode the The offset of the quantization parameter of the first chrominance channel and the offset of the quantization parameter of the second chrominance channel.
  • the processor encodes the offset of the quantization parameter of the chrominance channel into the code stream, it is used for:
  • the offset of the quantization parameter of the chrominance channel is encoded into the code stream.
  • the processor is also used for:
  • the offset of the quantization parameter of the chrominance channel is not encoded.
  • the color identifier is encoded into the code stream first, and if the color identifier indicates that the point cloud attribute contains color data, then the switch identifier is encoded into the code stream.
  • the processor is also used for:
  • the quantization parameter of the chrominance channel Before using the quantization parameter of the chrominance channel to quantize the chrominance residual corresponding to the chrominance channel, limit the quantization parameter of the chrominance channel to the minimum quantization parameter corresponding to the chrominance channel and the chrominance channel. Between the maximum quantization parameters corresponding to the chroma channels.
  • the minimum quantization parameter corresponding to the chrominance channel is the same or different from the minimum quantization parameter corresponding to the luminance channel
  • the maximum quantization parameter corresponding to the chrominance channel is the same or different from the maximum quantization parameter corresponding to the luminance channel.
  • the quantization parameter of the chrominance channel is obtained by adding the offset of the quantization parameter of the chrominance channel and the quantization parameter of the luminance channel.
  • the processor is also used for:
  • the chrominance residual corresponding to the quantized chrominance channel is encoded into the code stream.
  • the chrominance residual corresponding to the chrominance channel is obtained by making a difference between the actual chrominance value corresponding to the chrominance channel of the currently encoded point cloud point and the predicted chrominance value corresponding to the chrominance channel. .
  • the offset of the quantization parameter of the chrominance channel is a signed number. Therefore, by adjusting the offset of the quantization parameter of the chrominance channel, the quantization of the chrominance channel can be The value of the parameter is lowered to expand the adjustable range of the precision of the point cloud chromaticity data.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any one of the point cloud attribute decoding methods provided by the embodiments of the present application is implemented .
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any one of the point cloud attribute encoding methods provided by the embodiments of the present application is implemented .
  • Embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein.
  • Computer-usable storage media includes permanent and non-permanent, removable and non-removable media, and storage of information can be accomplished by any method or technology.
  • Information may be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • PRAM phase-change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • Flash Memory or other memory technology
  • CD-ROM Compact Disc Read Only Memory
  • CD-ROM Compact Disc Read Only Memory
  • DVD Digital Versatile Disc
  • Magnetic tape cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-

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Abstract

Des modes de réalisation de la présente demande divulguent un procédé de décodage d'attribut de nuage de points, comprenant : le décodage d'un identifiant de couleur d'un attribut de nuage de points à partir d'un flux de codes ; lorsque l'identifiant de couleur indique que l'attribut de nuage de points comprend des données de couleur, le décodage, à partir du flux de codes, d'un décalage d'un paramètre de quantification d'un canal de chrominance ; le calcul du paramètre de quantification du canal de chrominance en fonction du décalage du paramètre de quantification du canal de chrominance ; la réalisation, à l'aide du paramètre de quantification du canal de chrominance, d'une quantification inverse sur un résidu de chrominance correspondant au canal de chrominance ; et lorsque l'identifiant de couleur indique que l'attribut de nuage de points ne comprend pas de données de couleur, la détermination qu'il n'y a pas de décalage du paramètre de quantification du canal de chrominance dans le flux de codes. Selon le procédé divulgué dans les modes de réalisation de la présente demande, le nombre de bits utilisés pour la transmission de données en nuage de points est réduit.
PCT/CN2021/080539 2021-03-12 2021-03-12 Procédé de décodage d'attribut de nuage de points et procédé de codage d'attribut de nuage de points WO2022188164A1 (fr)

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