WO2022257969A1 - 点云编码处理方法、解码处理方法及相关设备 - Google Patents

点云编码处理方法、解码处理方法及相关设备 Download PDF

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WO2022257969A1
WO2022257969A1 PCT/CN2022/097633 CN2022097633W WO2022257969A1 WO 2022257969 A1 WO2022257969 A1 WO 2022257969A1 CN 2022097633 W CN2022097633 W CN 2022097633W WO 2022257969 A1 WO2022257969 A1 WO 2022257969A1
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node
point cloud
geometric information
target
decoded
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PCT/CN2022/097633
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English (en)
French (fr)
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张伟
聂佳明
吕卓逸
杨付正
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维沃移动通信有限公司
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Priority to KR1020237036561A priority Critical patent/KR20230159597A/ko
Priority to JP2023565949A priority patent/JP2024515798A/ja
Priority to EP22819566.5A priority patent/EP4329312A1/en
Publication of WO2022257969A1 publication Critical patent/WO2022257969A1/zh
Priority to US18/522,856 priority patent/US20240112373A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T9/00—Image coding
    • G06T9/001—Model-based coding, e.g. wire frame
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/005—Tree description, e.g. octree, quadtree
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T9/00—Image coding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T9/00—Image coding
    • G06T9/40—Tree coding, e.g. quadtree, octree
    • 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
    • H04N19/103—Selection of coding mode or of prediction mode
    • H04N19/105—Selection of the reference unit for prediction within a chosen coding or prediction mode, e.g. adaptive choice of position and number of pixels used for prediction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
    • H04N19/176—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a block, e.g. a macroblock
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
    • H04N19/597—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding specially adapted for multi-view video sequence encoding
    • 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
    • H04N19/90—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using coding techniques not provided for in groups H04N19/10-H04N19/85, e.g. fractals
    • H04N19/96—Tree coding, e.g. quad-tree coding

Definitions

  • the present application belongs to the technical field of point cloud processing, and in particular relates to a point cloud encoding processing method, decoding processing method and related equipment.
  • AVS Analog Video coding Standard
  • the current isolated point encoding conditions only limit the nodes to be encoded near the bottom layer that do not meet the isolated point encoding conditions, which will make more nodes to be encoded need to set isolated node identifiers, resulting in a larger encoded code stream.
  • the embodiment of the present application provides a point cloud encoding processing method, decoding processing method and related equipment, which can solve the problem of large coded streams caused by setting too many isolated node identifiers in the prior art.
  • a point cloud encoding processing method including:
  • the target queue includes the node occupied by the corresponding space block in the tree structure constructed based on the first geometric information, the first geometric information is based on the Nth frame point cloud to be encoded
  • the geometric information is obtained by preprocessing, and N is an integer greater than 1;
  • the coding condition of the isolated point includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be coded among the coded nodes.
  • a point cloud decoding processing method including:
  • the target queue includes the node occupied by the corresponding spatial block in the tree structure constructed based on the first geometric information, the first geometric information is the Nth frame point cloud to be decoded
  • the geometric information corresponding to the decoded node, N is an integer greater than 1;
  • the isolated point decoding condition includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be decoded among the decoded nodes.
  • a point cloud encoding processing device including:
  • the first obtaining module is used to obtain the current node to be encoded in the target queue, the target queue includes the node occupied by the corresponding space block in the tree structure constructed based on the first geometric information, and the first geometric information is based on the node to be encoded
  • the geometric information of the coded Nth frame point cloud is obtained by preprocessing, and N is an integer greater than 1;
  • a first determination module configured to determine the coding mode of the current node to be coded according to whether the current node to be coded meets the outlier coding condition
  • the coding condition of the isolated point includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be coded among the coded nodes.
  • a point cloud decoding processing device including:
  • the second acquisition module is used to acquire the current node to be decoded in the target queue, the target queue includes the node occupied by the corresponding space block in the tree structure constructed based on the first geometric information, and the first geometric information is the node to be decoded
  • the geometric information corresponding to the decoded node of the decoded point cloud of the Nth frame, N is an integer greater than 1;
  • the second determining module is configured to determine the decoding mode of the current node to be decoded according to whether the current node to be decoded satisfies the outlier decoding condition;
  • the isolated point decoding condition includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be decoded among the decoded nodes.
  • a terminal includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor.
  • the program or instruction is executed by the processor The steps of the method described in the first aspect are realized.
  • a terminal including a processor and a communication interface, wherein,
  • the processor is configured to perform the following operations: obtain the current node to be encoded in the target queue, the target queue includes nodes occupied by corresponding space blocks in the tree structure constructed based on the first geometric information, the first geometric information Obtained by preprocessing based on the geometric information of the Nth frame point cloud to be encoded, N is an integer greater than 1; according to whether the current node to be encoded meets the isolated point encoding condition, determine the encoding mode of the current node to be encoded; wherein , the coding condition of the isolated point includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be coded among the coded nodes;
  • the processor is configured to perform the following operations: obtain the current node to be decoded in the target queue, the target queue includes nodes occupied by corresponding space blocks in the tree structure constructed based on the first geometric information, and the first geometric information is The geometric information corresponding to the decoded node of the point cloud of the Nth frame to be decoded, N is an integer greater than 1; according to whether the current node to be decoded meets the isolated point decoding condition, determine the decoding mode of the current node to be decoded; wherein, The isolated point decoding condition includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be decoded among the decoded nodes.
  • a readable storage medium is provided, and programs or instructions are stored on the readable storage medium, and when the programs or instructions are executed by a processor, the steps of the method described in the first aspect are realized, or the steps of the method described in the first aspect are realized, or The steps of the method described in the second aspect.
  • the embodiment of the present application provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions, so as to implement the first aspect The steps of the method, or the steps of the method for realizing the second aspect.
  • a computer program product is provided, the computer program product is stored in a non-transitory storage medium, and the computer program product is executed by at least one processor to implement the method as described in the first aspect, or Implement the method as described in the second aspect.
  • a communication device configured to execute the method described in the first aspect, or execute the method described in the second aspect.
  • the current node to be encoded is acquired in the target queue, the target queue includes the nodes occupied by the corresponding space block in the tree structure constructed based on the first geometric information, and the first geometric information is based on the to-be-encoded
  • the geometric information of the Nth frame of the point cloud is obtained by preprocessing, and N is an integer greater than 1; according to whether the current node to be encoded satisfies the isolated point encoding condition, determine the encoding mode of the current node to be encoded; wherein, the The isolated point encoding condition includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be encoded among the encoded nodes.
  • the proportion of isolated nodes in the isolated point encoding mode can be increased based on the occupancy of the corresponding nodes of the reconstructed point cloud of the encoded frame, so that the number of nodes entering the isolated point encoding mode can be reduced, and the number of isolated node identifications that need to be encoded can be reduced . Therefore, the embodiment of the present application can reduce the encoding code stream.
  • Figure 1 is a schematic diagram of the point cloud AVS encoder framework
  • Figure 2 is a schematic diagram of the point cloud AVS decoder framework
  • FIG. 3 is a schematic diagram of an interframe coding framework
  • FIG. 4 is a flow chart of a point cloud encoding processing method provided by an embodiment of the present application.
  • Fig. 5 is a schematic diagram of the processing flow of octree encoding
  • FIG. 6 is a flow chart of a point cloud decoding processing method provided by an embodiment of the present application.
  • FIG. 7 is a structural diagram of a point cloud encoding processing device provided by an embodiment of the present application.
  • Fig. 8 is a structural diagram of a point cloud decoding processing device provided by an embodiment of the present application.
  • FIG. 9 is a structural diagram of a communication device provided by an embodiment of the present application.
  • FIG. 10 is a structural diagram of a communication device provided by an embodiment of the present application.
  • first, second and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein and that "first" and “second” distinguish objects. Generally, it is one class, and the number of objects is not limited, for example, there may be one or more first objects.
  • “and/or” in the description and claims means at least one of the connected objects, and the character “/” generally means that the related objects are an "or” relationship.
  • the codec terminal corresponding to the codec method in the embodiment of the present application can be a terminal, and the terminal can also be called a terminal device or a user terminal (User Equipment, UE), and the terminal can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop Laptop Computer (Laptop Computer) or Notebook Computer, Personal Digital Assistant (Personal Digital Assistant, PDA), PDA, Netbook, Ultra-mobile Personal Computer (UMPC), Mobile Internet Device (Mobile Internet Device) , MID), augmented reality (augmented reality, AR)/virtual reality (virtual reality, VR) equipment, robot, wearable device (Wearable Device) or vehicle equipment (Vehicle User Equipment, VUE), pedestrian terminal (Pedestrian User Equipment , PUE) and other terminal-side devices, wearable devices include: smart watches, bracelets, earphones, glasses, etc. It should be noted that, the embodiment of the present application does not limit the specific type of the terminal.
  • the geometric information and attribute information of the point cloud are encoded separately.
  • coordinate transformation is performed on the geometric information so that all point clouds are contained in a bounding box, and then the coordinates are quantized.
  • Quantization mainly plays the role of scaling. Since quantization will round the geometric coordinates, the geometric information of some points will be the same, which is called duplicate points. It is determined whether to remove duplicate points according to the parameters. Quantization and removal of duplicate points are two steps. Also known as the voxelization process.
  • the bounding box is divided into 8 sub-cubes, and the non-empty sub-cubes continue to be divided until the unit cube with leaf nodes of 1x1x1 is obtained.
  • the number of points in the point is encoded to generate a binary code stream.
  • the current AVS geometry division sequence includes two types:
  • Depth-first traversal order When dividing the geometry into an octree, the first node of the current layer will be divided continuously until the leaf node obtained by division is a 1x1x1 unit cube and stop dividing the current node. According to this sequence, the subsequent nodes of the current layer are divided until the division of the nodes on the current layer is completed.
  • Attribute coding is mainly aimed at color and reflectance information. First, judge whether to perform color space conversion according to the parameters. If color space conversion is performed, the color information is converted from Red Green Blue (RGB) color space to brightness color (YUV) color space. Then, the geometrically reconstructed point cloud is recolored with the original point cloud so that the unencoded attribute information corresponds to the reconstructed geometric information.
  • RGB Red Green Blue
  • YUV brightness color
  • the nearest neighbor of the point to be predicted is searched using the geometric spatial relationship, and the reconstructed attribute value of the found neighbor is used to predict the point to be predicted to obtain the predicted attribute value, and then the The real attribute value and the predicted attribute value are differentiated to obtain the prediction residual, and finally the prediction residual is quantized and encoded to generate a binary code stream.
  • the AVS decoding process corresponds to the encoding process.
  • the AVS decoder framework is shown in FIG. 2 .
  • the AVS exploration model (Explore model, EM) proposes an inter-frame coding framework based on the above-mentioned intra-frame coding framework, as shown in Figure 3.
  • the specific coding process is as follows:
  • I frame and P frame Two frame types are set: I frame and P frame.
  • the first frame of each sequence is an I frame, and only intra-frame prediction is used. All subsequent frames are P frames, and forward inter-frame prediction is performed, and the previous frame is used as a reference frame.
  • an interframe flag (interMode) is added to control whether to use the interframe prediction tool;
  • the same sub-block division operation as that of the current block to be encoded is performed to obtain the occupancy code information of the predicted block and the current block respectively.
  • the decoding process corresponds to the encoding process, which will not be repeated here.
  • FIG. 4 is a flow chart of a point cloud encoding processing method provided by an embodiment of the present application. As shown in FIG. 4, it includes the following steps:
  • Step 401 obtain the current node to be encoded in the target queue, the target queue includes the nodes occupied by the corresponding space block in the tree structure constructed based on the first geometric information based on the Nth to-be-encoded
  • the geometric information of the frame point cloud is obtained by preprocessing, and N is an integer greater than 1;
  • the root node when encoding the first geometric information, may be firstly determined and stored in the first node queue. It should be understood that the root node corresponds to a bounding box, including all points in the first geometric information. Then divide the root node into a tree structure to obtain child nodes, and store the occupied child nodes in the first node queue based on the occupation of the child nodes. At this time, the occupied child node may be placed after the last node in the first node queue, or after the node currently undergoing structure tree division. When encoding, the nodes in the first node queue may be traversed sequentially as the current nodes to be encoded, and the encoding operation is performed.
  • Step 402 Determine the encoding mode of the current node to be encoded according to whether the current node to be encoded meets the outlier encoding condition;
  • the coding condition of the isolated point includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be coded among the coded nodes.
  • the encoding mode of the current node to be encoded includes an isolated point encoding mode or a placeholder code encoding mode, and when the current node to be encoded satisfies the isolated point encoding condition, the The encoding mode is an outlier encoding mode; when the current node to be encoded does not meet the outlier encoding condition, the encoding mode of the current node to be encoded is a placeholder code encoding mode.
  • the condition that the target node is occupied satisfies the preset condition as part of the outlier encoding condition, so that it can be determined whether the current node satisfies the outlier condition according to the sparseness of the nodes in the second geometric information.
  • Encoding conditions For example, if the nodes corresponding to the reconstructed point cloud of the reference frame are relatively sparse, then the nodes of the current frame are also highly likely to be sparse, so the probability of this node being an isolated point is relatively high.
  • the node of the current frame node entering the isolated point encoding mode is a real isolated point with a high probability, and enters the isolated point encoding by upgrading
  • the current node to be encoded is acquired in the target queue, the target queue includes the nodes occupied by the corresponding space block in the tree structure constructed based on the first geometric information, and the first geometric information is based on the to-be-encoded
  • the geometric information of the Nth frame of the point cloud is obtained by preprocessing, and N is an integer greater than 1; according to whether the current node to be encoded satisfies the isolated point encoding condition, determine the encoding mode of the current node to be encoded; wherein, the The isolated point encoding condition includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be encoded among the encoded nodes.
  • the proportion of isolated nodes in the isolated point encoding mode can be increased based on the occupancy of the corresponding nodes of the reconstructed point cloud of the encoded frame, so that the number of nodes entering the isolated point encoding mode can be reduced, and the number of isolated node identifications that need to be encoded can be reduced. quantity. Therefore, the embodiment of the present application can reduce the encoding code stream.
  • synchronous tree structure division can be performed on the first geometric information and the second geometric information, so as to obtain the nodes of the tree structure corresponding to the first geometric information and the tree structure corresponding to the second geometric information of nodes.
  • performing synchronous tree division on the first geometric information and the second geometric information can be understood as, when performing tree structure division on the second geometric information, refer to the tree structure of the first geometric information to perform synchronous division, that is, corresponding to the second geometric information Whether a certain node in the tree structure is divided into child nodes needs to be synchronized with the corresponding node of the tree structure corresponding to the first geometric information.
  • tree structure division may be understood as multi-tree structure division, for example, octree division, quadtree division, and binary tree division may be used.
  • the above-mentioned reference frame point cloud is at least one frame of point cloud that has been encoded.
  • the geometric information can be reconstructed to obtain the reconstructed geometric information, and a memory can be opened to save each The frame encodes the reconstructed geometry information corresponding to the point cloud.
  • the geometric information of the point cloud of the Nth frame can be preprocessed to obtain the first geometric information.
  • the target node includes at least one of the following:
  • a child node of the first node is a node corresponding to the current node to be encoded in the tree structure corresponding to the second geometric information, and the second geometric information is a reference corresponding to the Nth frame point cloud The reconstructed geometric information of the frame point cloud;
  • a child node of a neighbor node of the first node is a child node of a neighbor node of the first node.
  • the current node to be encoded and the first node may be divided into a synchronization tree before or after judging whether the current node to be encoded satisfies the outlier encoding condition. It should be noted that if the current node to be coded and the first node are divided into synchronous trees before judging whether the current node to be coded satisfies the isolated point coding conditions, the occupancy of the child nodes of the first node can be obtained. At this time, the target The nodes may include child nodes of the first node. If the synchronization tree is divided between the current node to be encoded and the first node after judging whether the current node to be encoded satisfies the outlier encoding condition, the occupancy of the child nodes of the first node cannot be obtained.
  • the neighbor nodes of the first node include at least one of the following:
  • the fact that the target node is occupied and the preset condition is satisfied includes at least one of the following:
  • the number of nodes occupied by the target node is less than a first threshold
  • the number of points located in the spatial block corresponding to the target node in the second geometric information is less than a second threshold, and the second geometric information is the reconstructed geometric information of the point cloud of the reference frame corresponding to the point cloud of the Nth frame.
  • it can be determined based on the number of target nodes occupied whether the current node satisfies the isolated point encoding condition, or based on the number of points in the second geometric information located in the space block corresponding to the target node to determine whether the current node is If the isolated point encoding condition is met, joint judgment can also be performed.
  • the outlier encoding conditions further include:
  • the directly encoded identifier of the geometric header information corresponding to the Nth frame point cloud is a preset value
  • the spatial block corresponding to the current node to be encoded has side lengths in L directions greater than the preset minimum side length
  • the sum of the Morton code bits to be encoded at the target point is greater than the preset times of L
  • the target The points include points located in the space block corresponding to the current to-be-coded node in the first geometric information, and L is a natural number.
  • the above-mentioned preset times may be 2 times.
  • the size of the preset value above can be set according to actual needs, and no further limitation is made here.
  • the method when the coding mode of the current node to be coded is an isolated point coding mode, the method further includes:
  • placeholder code encoding is performed
  • the isolated point encoding is performed.
  • performing placeholder code encoding can be understood as encoding the placeholder code of the current node to be encoded by Context-based Adaptive Binary Arithmetic Coding (CABAC).
  • CABAC Context-based Adaptive Binary Arithmetic Coding
  • the manner of encoding the isolated point may refer to related technologies and will not be repeated here.
  • the isolated point coding conditions include the following conditions:
  • the target node is occupied satisfies the preset condition, and the target node is a node associated with the current node to be coded among the coded nodes;
  • the directly encoded identifier of the geometric header information corresponding to the Nth frame point cloud is a preset value
  • the spatial block corresponding to the current node to be encoded has side lengths in L directions greater than the preset minimum side length
  • the sum of the Morton code bits to be encoded at the target point is greater than the preset times of L
  • the target The points include points located in the space block corresponding to the current to-be-coded node in the first geometric information, and L is a natural number.
  • the sub-node corresponding to the reference frame can be understood as a node corresponding to the sub-node currently performing entropy encoding among the nodes corresponding to the point cloud reconstruction of the reference frame.
  • the first set of contexts can be designed based on the occupancy patterns of neighboring nodes of corresponding nodes between frames, and the second set of contexts can use intra-frame contexts.
  • FIG. 6 is a flow chart of a point cloud decoding processing method provided by an embodiment of the present application. As shown in FIG. 6, it includes the following steps:
  • Step 601 obtain the current node to be decoded in the target queue, the target queue includes the nodes occupied by the corresponding space block in the tree structure constructed based on the first geometric information, the first geometric information is the Nth node to be decoded
  • N is an integer greater than 1;
  • Step 602 Determine the decoding mode of the current node to be decoded according to whether the current node to be decoded satisfies the outlier decoding condition;
  • the isolated point decoding condition includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be decoded among the decoded nodes.
  • the first geometric information may be obtained through entropy decoding and multi-tree reconstruction based on the geometric code stream corresponding to the point cloud of the Nth frame.
  • the target node includes at least one of the following:
  • a child node of the first node is a node corresponding to the current node to be decoded in the tree structure corresponding to the second geometric information, and the second geometric information is a reference corresponding to the Nth frame point cloud The reconstructed geometric information of the frame point cloud;
  • a child node of a neighbor node of the first node is a child node of a neighbor node of the first node.
  • the neighbor nodes of the first node include at least one of the following:
  • the fact that the target node is occupied and the preset condition is satisfied includes at least one of the following:
  • the number of nodes occupied by the target node is less than a first threshold
  • the number of points located in the spatial block corresponding to the target node in the second geometric information is less than a second threshold, and the second geometric information is the reconstructed geometric information of the point cloud of the reference frame corresponding to the point cloud of the Nth frame.
  • the outlier decoding condition also includes:
  • the direct decoding identifier of the geometric header information corresponding to the Nth frame point cloud is a preset value
  • the spatial block corresponding to the current node to be decoded has side lengths in L directions greater than the preset minimum side length
  • the sum of the Morton code bits to be decoded at the target point is greater than the preset times of L
  • the target The points include points located in the spatial block corresponding to the current node to be decoded in the first geometric information, and L is a natural number.
  • the decoding mode of the current node to be decoded includes an isolated point decoding mode or a placeholder code decoding mode, and when the current node to be decoded satisfies an isolated point decoding condition, the decoding mode of the current node to be decoded is an outlier decoding mode; if the current node to be decoded does not satisfy the outlier decoding condition, the decoding mode of the current to-be-decoded node is a placeholder code decoding mode.
  • the method further includes:
  • the current node to be decoded is an isolated node
  • isolated point decoding is performed.
  • this embodiment is an implementation of the decoding end corresponding to the embodiment shown in FIG. 4 , and the decoding process is the inverse process of the encoding process.
  • the decoding process is the inverse process of the encoding process.
  • specific implementation methods please refer to the relevant description of the embodiment shown in FIG. 4 , and To achieve the same beneficial effect, in order to avoid repeated descriptions, details are not repeated here.
  • the point cloud encoding processing method provided in the embodiment of the present application may be executed by a point cloud encoding processing device, or a control module in the point cloud encoding processing device for executing the point cloud encoding processing method.
  • the point cloud coding processing device provided in the embodiment of the present application is described by taking the point cloud coding processing device executing the point cloud coding processing method as an example.
  • FIG. 7 is a structural diagram of a point cloud encoding processing device provided in an embodiment of the present application. As shown in FIG. 7, the point cloud encoding processing device 700 includes:
  • the first acquisition module 701 is configured to acquire the current node to be encoded in the target queue, the target queue includes nodes occupied by corresponding space blocks in the tree structure constructed based on the first geometric information, and the first geometric information is based on The geometric information of the Nth frame point cloud to be encoded is obtained by preprocessing, and N is an integer greater than 1;
  • the first determination module 702 is configured to determine the encoding mode of the current node to be encoded according to whether the current node to be encoded meets the outlier encoding condition;
  • the coding condition of the isolated point includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be coded among the coded nodes.
  • the target node includes at least one of the following:
  • a child node of the first node is a node corresponding to the current node to be encoded in the tree structure corresponding to the second geometric information, and the second geometric information is a reference corresponding to the Nth frame point cloud The reconstructed geometric information of the frame point cloud;
  • a child node of a neighbor node of the first node is a child node of a neighbor node of the first node.
  • the neighbor nodes of the first node include at least one of the following:
  • the fact that the target node is occupied and the preset condition is satisfied includes at least one of the following:
  • the number of nodes occupied by the target node is less than a first threshold
  • the number of points located in the spatial block corresponding to the target node in the second geometric information is less than a second threshold, and the second geometric information is the reconstructed geometric information of the reference frame point cloud corresponding to the Nth frame point cloud.
  • the isolated point coding conditions also include:
  • the directly encoded identifier of the geometric header information corresponding to the Nth frame point cloud is a preset value
  • the spatial block corresponding to the current node to be encoded has side lengths in L directions greater than the preset minimum side length
  • the sum of the Morton code bits to be encoded at the target point is greater than the preset times of L
  • the target The points include points located in the space block corresponding to the current to-be-coded node in the first geometric information, and L is a natural number.
  • the encoding mode of the current node to be encoded includes an isolated point encoding mode or a placeholder code encoding mode, and when the current node to be encoded meets the isolated point encoding condition, the encoding mode of the current node to be encoded is an outlier encoding mode; if the current node to be encoded does not satisfy the outlier encoding condition, the encoding mode of the current to-be-encoded node is a placeholder code encoding mode.
  • the point cloud encoding processing device further includes a first execution module, configured to perform the following operations when the encoding mode of the current node to be encoded is the isolated point encoding mode:
  • placeholder code encoding is performed
  • the isolated point encoding is performed.
  • the point cloud encoding processing device provided in the embodiment of the present application can realize each process in the method embodiment in FIG. 4 , and to avoid repetition, details are not repeated here.
  • the point cloud decoding processing method provided in the embodiment of the present application may be executed by a point cloud decoding processing device, or a control module in the point cloud decoding processing device for executing the point cloud decoding processing method.
  • the point cloud decoding processing device provided in the embodiment of the present application is described by taking the point cloud decoding processing device executing the point cloud decoding processing method as an example.
  • FIG. 8 is a structural diagram of a point cloud decoding processing device provided in an embodiment of the present application. As shown in FIG. 8, the point cloud decoding processing device 800 includes:
  • the second acquisition module 801 is configured to acquire the current node to be decoded in the target queue, the target queue includes nodes occupied by corresponding space blocks in the tree structure constructed based on the first geometric information, and the first geometric information is The geometric information corresponding to the decoded node of the point cloud of the Nth frame to be decoded, N is an integer greater than 1;
  • the second determination module 802 is used to determine the decoding mode of the current node to be decoded according to whether the current node to be decoded satisfies the outlier decoding condition;
  • the isolated point decoding condition includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be decoded among the decoded nodes.
  • the target node includes at least one of the following:
  • a child node of the first node is a node corresponding to the current node to be decoded in the tree structure corresponding to the second geometric information, and the second geometric information is a reference corresponding to the Nth frame point cloud The reconstructed geometric information of the frame point cloud;
  • a child node of a neighbor node of the first node is a child node of a neighbor node of the first node.
  • the neighbor nodes of the first node include at least one of the following:
  • the fact that the target node is occupied and the preset condition is satisfied includes at least one of the following:
  • the number of nodes occupied by the target node is less than a first threshold
  • the number of points located in the spatial block corresponding to the target node in the second geometric information is less than a second threshold, and the second geometric information is the reconstructed geometric information of the point cloud of the reference frame corresponding to the point cloud of the Nth frame.
  • the outlier decoding condition also includes:
  • the direct decoding identifier of the geometric header information corresponding to the Nth frame point cloud is a preset value
  • the spatial block corresponding to the current node to be decoded has side lengths in L directions greater than the preset minimum side length
  • the sum of the Morton code bits to be decoded at the target point is greater than the preset times of L
  • the target The points include points located in the spatial block corresponding to the current node to be decoded in the first geometric information, and L is a natural number.
  • the decoding mode of the current node to be decoded includes an isolated point decoding mode or a placeholder code decoding mode, and when the current node to be decoded satisfies an isolated point decoding condition, the decoding mode of the current node to be decoded is an outlier decoding mode; if the current node to be decoded does not satisfy the outlier decoding condition, the decoding mode of the current to-be-decoded node is a placeholder code decoding mode.
  • the point cloud encoding processing device further includes a first execution module, and the first execution module is configured to perform the following operations when the decoding mode of the current node to be decoded is the isolated point decoding mode:
  • the current node to be decoded is an isolated node
  • isolated point decoding is performed.
  • the point cloud decoding processing device provided in the embodiment of the present application can realize each process in the method embodiment in FIG. 4 , and to avoid repetition, details are not repeated here.
  • the point cloud decoding processing device in the embodiment of the present application may be a device, a device with an operating system or an electronic device, or a component, an integrated circuit, or a chip in a terminal.
  • the device may be a mobile terminal or a non-mobile terminal.
  • a mobile terminal may include but not limited to the types of terminals listed above, and a non-mobile terminal may be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television , TV), teller machines or self-service machines, etc., are not specifically limited in this embodiment of the present application.
  • the point cloud encoding processing device and the point cloud decoding processing device provided in the embodiment of the present application can realize each process realized by the method embodiments in Fig. 4 to Fig. 6 , and achieve the same technical effect. To avoid repetition, details are not repeated here.
  • this embodiment of the present application further provides a communication device 900, including a processor 901, a memory 902, and programs or instructions stored in the memory 902 and operable on the processor 901,
  • a communication device 900 including a processor 901, a memory 902, and programs or instructions stored in the memory 902 and operable on the processor 901
  • the program or instruction is executed by the processor 901
  • the various processes of the above-mentioned method for encoding and processing the geometric information of point cloud or the method for decoding and processing the geometric information of point cloud can be achieved, and the same technical effect can be achieved. In order to avoid repetition, here No longer.
  • the embodiment of the present application also provides a terminal, including a processor and a communication interface, the processor is configured to perform the following operations: obtain the current node to be encoded in the target queue, and the target queue includes the tree structure constructed based on the first geometric information The corresponding spatial block is occupied by the node, the first geometric information is obtained by preprocessing based on the geometric information of the point cloud of the Nth frame to be encoded, and N is an integer greater than 1; according to whether the current node to be encoded satisfies the isolated point Encoding conditions, determine the encoding mode of the current node to be encoded; wherein, the isolated point encoding conditions include: the target node is occupied to meet the preset conditions, the target node is the node that is already encoded and the current to be encoded A node associated with the node; or, the processor is configured to perform the following operations: obtain the current node to be decoded in the target queue, the target queue includes nodes occupied by corresponding space blocks in the tree structure constructed
  • FIG. 10 is a schematic diagram of a hardware structure of a terminal implementing various embodiments of the present application.
  • the terminal 1000 includes, but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, and a processor 1010. At least some parts.
  • the terminal 1000 can also include a power supply (such as a battery) for supplying power to various components, and the power supply can be logically connected to the processor 1010 through the power management system, so as to manage charging, discharging, and power consumption through the power management system. Management and other functions.
  • a power supply such as a battery
  • the terminal structure shown in FIG. 10 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than shown in the figure, or combine certain components, or arrange different components, which will not be repeated here.
  • the input unit 1004 may include a graphics processor (Graphics Processing Unit, GPU) and a microphone, and the graphics processor is controlled by an image capture device (such as a camera) in a video capture mode or an image capture mode.
  • the obtained image data of still picture or video is processed.
  • the display unit 1006 may include a display panel, and the display panel may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 1007 includes a touch panel and other input devices. Touch panel, also known as touch screen.
  • the touch panel can include two parts: a touch detection device and a touch controller.
  • Other input devices may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, and joysticks, which will not be repeated here.
  • the radio frequency unit 1001 receives the downlink data from the network side device, and processes it to the processor 1010; in addition, sends the uplink data to the network side device.
  • the radio frequency unit 1001 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
  • the memory 1009 can be used to store software programs or instructions as well as various data.
  • the memory 1009 may mainly include a program or instruction storage area and a data storage area, wherein the program or instruction storage area may store an operating system, at least one application program or instruction required by a function (such as a sound playback function, an image playback function, etc.) and the like.
  • the memory 1009 may include a high-speed random access memory, and may also include a non-transitory memory, wherein the non-transitory memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM) , PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • ROM Read-Only Memory
  • PROM programmable read-only memory
  • PROM erasable programmable read-only memory
  • Erasable PROM Erasable PROM
  • EPROM electrically erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory for example at least one disk storage device, flash memory device, or other non-transitory solid state storage device.
  • the processor 1010 may include one or more processing units; optionally, the processor 1010 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, application programs or instructions, etc., Modem processors mainly handle wireless communications, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 1010 .
  • processor 1010 is configured to perform the following operations:
  • the target queue includes the node occupied by the corresponding space block in the tree structure constructed based on the first geometric information, the first geometric information is based on the Nth frame point cloud to be encoded
  • the geometric information is obtained by preprocessing, and N is an integer greater than 1;
  • the coding condition of the isolated point includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be coded among the coded nodes.
  • processor 1010 is configured to perform the following operations:
  • the target queue includes the node occupied by the corresponding spatial block in the tree structure constructed based on the first geometric information, the first geometric information is the Nth frame point cloud to be decoded
  • the geometric information corresponding to the decoded node, N is an integer greater than 1;
  • the isolated point decoding condition includes: the fact that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be decoded among the decoded nodes.
  • processor 1010 can implement various processes implemented by the method embodiments in FIGS. 4 and 6 , and details are not repeated here to avoid repetition.
  • the embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the above embodiment of the point cloud encoding processing method or point cloud decoding processing method is realized Each process, and can achieve the same technical effect, in order to avoid repetition, will not repeat them here.
  • the processor is the processor in the electronic device described in the above embodiments.
  • the readable storage medium includes computer readable storage medium, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
  • the embodiment of the present application also provides a computer program product, the computer program product is stored in a non-transitory storage medium, and the computer program product is executed by at least one processor to implement the above point cloud encoding processing method or point cloud
  • the various processes in the embodiment of the decoding processing method can achieve the same technical effect, so to avoid repetition, details are not described here.
  • the embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the above point cloud encoding processing method or
  • the various processes of the embodiment of the point cloud decoding processing method can achieve the same technical effect, so in order to avoid repetition, details are not repeated here.
  • chips mentioned in the embodiments of the present application may also be called system-on-chip, system-on-chip, system-on-a-chip, or system-on-a-chip.
  • the embodiment of the present application further provides a program product, the program product is stored in a non-transitory storage medium, and the program product is executed by at least one processor to implement the above point cloud encoding processing method or point cloud decoding processing method
  • the various processes of the embodiment can achieve the same technical effect, so in order to avoid repetition, details are not repeated here.
  • the term “comprising”, “comprising” or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase “comprising a " does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.
  • the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
  • the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation.
  • the technical solution of the present application can be embodied in the form of computer software products, which are stored in a storage medium (such as ROM/RAM, magnetic disk, etc.) , optical disc), including several instructions to enable a terminal (which may be a mobile phone, computer, server, air conditioner, or base station, etc.) to execute the methods described in various embodiments of the present application.

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Abstract

本申请公开了一种点云编码处理方法、解码处理方法及相关设备。本申请实施例的点云编码处理方法，包括：在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。

Description

点云编码处理方法、解码处理方法及相关设备
相关申请的交叉引用
本申请主张在2021年06月11日在中国提交的中国专利申请No.202110654047.X的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于点云处理技术领域，尤其涉及一种点云编码处理方法、解码处理方法及相关设备。
背景技术
在点云数字音视频编解码标准(Audio Video coding Standard，AVS)编码器框架中，通常需要为满足孤立点编码条件的待编码节点设置用于表征是否为真实的孤立节点的孤立节点标识，并对该孤立节点标识进行编码。然而目前孤立点编码条件中仅限制了靠近底层的待编码节点不满足孤立点编码条件，这样将会使得较多的待编码节点需要设置孤立节点标识，导致编码的码流较大。
发明内容
本申请实施例提供一种点云编码处理方法、解码处理方法及相关设备，能够解决现有技术中由于设置过多的孤立节点标识，导致编码的码流较大。
第一方面，提供了一种点云编码处理方法，包括：
在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；
根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；
其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。
第二方面，提供了一种点云解码处理方法，包括：
在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信息，N为大于1的整数；
根据所述当前待解码节点是否满足孤立点解码条件，确定所述当前待解码节点的解码模式；
其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。
第三方面，提供了一种点云编码处理装置，包括：
第一获取模块，用于在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；
第一确定模块，用于根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；
其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。
第四方面，提供了一种点云解码处理装置，包括：
第二获取模块，用于在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信息，N为大于1的整数；
第二确定模块，用于根据所述当前待解码节点是否满足孤立点解码条件，确定所述当前待解码节点的解码模式；
其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。
第五方面，提供了一种终端，该终端包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤。
第六方面，提供了一种终端，包括处理器及通信接口，其中，
所述处理器用于执行以下操作：在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点；
或者处理器用于执行以下操作：在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信息，N为大于1的整数；根据所述当前待解码节点是否满足孤立点解码条件，确定所述当前待解码节点的解码模式；其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。
第七方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第八方面，本申请实施例提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第九方面，提供了一种计算机程序产品，所述计算机程序产品存储在非瞬态的存储介质中，所述计算机程序产品被至少一个处理器执行以实现如第一方面所述的方法，或实现如第二方面所述的方法。
第十方面，提供一种通信设备，被配置为执行如第一方面所述的方法，或执行如第二方面所述的方法。
本申请实施例中通过在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大 于1的整数；根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。这样，可以基于已编码帧的重建点云对应节点的占据情况提高进行孤立点编码模式中孤立节点的占比，从而可以减少进入孤立点编码模式的节点，进而减小需要编码孤立节点标识的数量。因此，本申请实施例可以降低编码码流。
附图说明
图1是点云AVS编码器框架示意图；
图2是点云AVS解码器框架示意图；
图3是帧间编码框架示意图；
图4是本申请实施例提供的一种点云编码处理方法的流程图；
图5是八叉树编码的处理流程示意图；
图6是本申请实施例提供的一种点云解码处理方法的流程图；
图7是本申请实施例提供的一种点云编码处理装置的结构图；
图8是本申请实施例提供的一种点云解码处理装置的结构图；
图9是本申请实施例提供的一种通信设备的结构图；
图10是本申请实施例提供的一种通信设备的结构图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类， 并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。
本申请实施例中的编解码方法对应的编解码端可以为终端，该终端也可以称作终端设备或者用户终端(User Equipment，UE)，终端可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant，PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer，UMPC)、移动上网装置(Mobile Internet Device，MID)、增强现实(augmented reality，AR)/虚拟现实(virtual reality，VR)设备、机器人、可穿戴式设备(Wearable Device)或车载设备(Vehicle User Equipment，VUE)、行人终端(Pedestrian User Equipment，PUE)等终端侧设备，可穿戴式设备包括：智能手表、手环、耳机、眼镜等。需要说明的是，在本申请实施例并不限定终端的具体类型。
为了方便理解，以下对本申请实施例涉及的一些内容进行说明：
如图1所示，在点云AVS编码器框架中，点云的几何信息和属性信息是分开编码的。首先对几何信息进行坐标转换，使点云全部包含在一个包围盒(bounding box)中，然后再进行坐标量化。量化主要起到缩放的作用，由于量化会对几何坐标取整，使得一部分点的几何信息相同，称为重复点，根据参数来决定是否移除重复点，量化和移除重复点这两个步骤又被称为体素化过程。接下来，对包围盒进行多叉树划分，例如八叉树、四叉树或二叉树划分。在基于多叉树的几何信息编码框架中，将包围盒八等分为8个子立方体，对非空的子立方体继续进行划分，直到划分得到叶子节点为1x1x1的单位立方体时停止划分，对叶子结点中的点数进行编码，生成二进制码流。目前AVS几何划分顺序包括两种：
1、广度优先遍历顺序：对几何进行八叉树划分时，首先对当前同一层的节点进行划分，直至划分完当前层上的所有节点，才会继续划分下一层的节点，最终当划分得到的叶子结点为1x1x1的单位立方体时停止划分。
2、深度优先遍历顺序：对几何进行八叉树划分时，首先会对当前层的第一个节点进行不断地划分，直到划分得到的叶子结点为1x1x1的单位立方体 时停止划分当前节点。按照该顺序，对当前层后续的节点进行划分，直至当前层上的节点划分完成停止。
几何编码完成后，对几何信息进行重建，用于后面的重着色。属性编码主要针对的是颜色和反射率信息。首先根据参数判断是否进行颜色空间转换，若进行颜色空间转换，则将颜色信息从红绿蓝(Red Green Blue，RGB)颜色空间转换到亮度色彩(YUV)颜色空间。然后，利用原始点云对几何重建点云进行重着色，使得未编码的属性信息与重建的几何信息对应起来。在颜色信息编码中，通过莫顿码对点云进行排序后，利用几何空间关系搜索待预测点的最近邻，并利用所找到邻居的重建属性值对待预测点进行预测得到预测属性值，然后将真实属性值和预测属性值进行差分得到预测残差，最后对预测残差进行量化并编码，生成二进制码流。
可选地，AVS解码流程与编码流程对应，具体的，AVS解码器框架如图2所示。
AVS的探索模型(Explore model，EM)基于上述帧内编码框架提出一种帧间编码框架，如图3所示。具体编码流程如下：
设置两种帧类型：I帧和P帧，每个序列首帧为I帧，仅使用帧内预测，后续所有帧为P帧，进行前向帧间预测，并均以前一帧为参考帧。同时增加帧间标志位(interMode)，用于控制是否使用帧间预测工具；
输入当前待编码帧，前一帧已编码点云作为参考帧，将两帧进行同步树划分，并将参考帧中对应位置的节点作为预测块,预测块的占用信息将被作为上下文用于提升待编码块的占用码熵编码效率；
对于得到的预测块，将其与当前待编码块进行相同的子块划分操作，分别得到预测块和当前块的占用码信息。
可选地，解码的流程与编码流程对应，在此不再赘述。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的点云编码处理方法进行详细地说明。
请参见图4，图4是本申请实施例提供的一种点云编码处理方法的流程图，如图4所示，包括以下步骤：
步骤401，在目标队列中获取当前待编码节点，所述目标队列包括基于 第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；
本申请实施例中，在对第一几何信息进行编码时，可以首先确定根节点，存储于第一节点队列中。应理解，该根节点对应一个包围盒，包含有第一几何信息中的所有点。然后对根节点进行树结构划分，获得子节点，基于子节点的占据情况，将被占据的子节点存储于第一节点队列中。此时，可以将被占据的子节点可以放在第一节点队列的最后一个节点之后，也可以放在当前进行结构树划分的节点之后。在进行编码时，可以依次遍历第一节点队列的节点作为当前待编码节点，进行编码操作。
步骤402，根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；
其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。
本申请实施例中，所述当前待编码节点的编码模式包括孤立点编码模式或占位码编码模式，在所述当前待编码节点满足孤立点编码条件的情况下，所述当前待编码节点的编码模式为孤立点编码模式；在所述当前待编码节点不满足孤立点编码条件的情况下，所述当前待编码节点的编码模式为占位码编码模式。
应理解，在本申请实施例中，设置了目标节点被占据的情况满足预设条件作为孤立点编码条件的一部分，从而可以根据第二几何信息中节点的稀疏情况，确定当前节点是否满足孤立点编码条件。例如，参考帧重建点云对应节点比较稀疏，那么当前帧节点也大概率是稀疏的，所以该节点为孤立点的概率比较大。由于在进入孤立点编码模式后，需要对每一个进入孤立点编码模式的节点编码标志位(singleNodeFlag)，用于确定是否为真实的孤立节点，例如可以通过singleNodeFlag＝1表示当前待编码的节点为真实的孤立节点，通过singleNodeFlag＝0表示当前待编码的节点为非孤立节点。通过当前节点在已编码点云帧中的对应位置节点及其邻居位置节点的占据模式来推断当前帧节点进入孤立点编码模式的节点是否大概率是一个真正的孤立点，通过提 升进入孤立点编码的节点是真正孤立点的概率，降低编码singleNodeFlag＝0的数量，同时singleNodeFlag＝1的数量几乎不变。因此，本申请实施例中可以减少对singleNodeFlag的编码数据，从而降低编码码流。
本申请实施例中通过在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。这样，可以基于已编码帧的重建点云对应节点的占据情况提高进行孤立点编码模式中孤立节点的占比，，从而可以减少进入孤立点编码模式的节点，进而减小需要编码孤立节点标识的数量。因此，本申请实施例可以降低编码码流。
需要说明的是，在本申请实施例中，可以对第一几何信息和第二几何信息进行同步树结构划分，从而获得第一几何信息对应的树结构的节点和第二几何信息对应的树结构的节点。
其中，对第一几何信息和第二几何信息进行同步树划分可以理解为，对第二几何信息进行树结构划分时，参考第一几何信息的树结构进行同步划分，即对第二几何信息对应的树结构中的某一节点是否划分子节点，需要与第一几何信息对应的树结构的对应节点进行同步。应理解，在本申请实施例中，树结构划分可以理解为多叉树结构划分，例如可以为八叉树划分、四叉树划分和二叉树划分等。
可选地，上述参考帧点云为已经编码的至少一帧点云，具体的，可以在每一帧点云编码完成后，进行几何信息的重建，获得重建几何信息，并开辟内存保存每一帧已编码点云对应的重建几何信息。在确定第N帧点云对应的参考帧点云后，可以对该第N帧点云的几何信息进行预处理，获得第一几何信息。
可选地，在一些实施例中，所述目标节点包括以下至少一项：
第一节点的子节点，所述第一节点为第二几何信息对应的树结构中与所 述当前待编码节点对应的节点，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息；
所述第一节点的邻居节点；
所述第一节点的邻居节点的子节点。
本申请实施例中，可以在判断当前待编码节点是否满足孤立点编码条件之前或之后对当前待编码节点和第一节点进行同步树划分。需要说明的是，若在判断当前待编码节点是否满足孤立点编码条件之前对当前待编码节点和第一节点进行同步树划分，则可以获取到第一节点的子节点的占据情况，此时目标节点可以包括第一节点的子节点。若在判断当前待编码节点是否满足孤立点编码条件之后对当前待编码节点和第一节点进行同步树划分，则无法获得第一节点的子节点的占据情况。
可选地，在一些实施例中，第一节点的邻居节点包括以下至少一项：
所述第一节点的同层节点；
所述第一节点的父节点对应的同层节点的子节点。
可选地，所述目标节点被占据的情况满足预设条件包括以下至少一项：
所述目标节点被占据的节点数小于第一阈值；
第二几何信息中位于所述目标节点对应的空间块内的点的数量小于第二阈值，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息。
本申请实施例中，可以基于目标节点被占据的数量确定当前节点是否满足孤立点编码条件，也可以基于第二几何信息中位于所述目标节点对应的空间块内的点的数量确定当前节点是否满足孤立点编码条件，还可以进行联合判断。
可选地，在一些实施例中，所述孤立点编码条件还包括：
所述第N帧点云对应的几何头信息的直接编码标识符为预设值；
在所述当前待编码节点对应的空间块存在L个方向的边长大于预设最小边长的情况下，目标点的待编码莫顿码位数之和大于L的预设倍，所述目标点包括第一几何信息中位于所述当前待编码节点对应的空间块内的点，L为自然数。
本申请实施例中，上述预设倍可以为2倍。上述预设值的大小可以根据实际需要进行设置，在此不做进一步的限定。
可选地，在一些实施例中，在所述当前待编码节点的编码模式为孤立点编码模式的情况下，所述方法还包括：
在所述当前待编码节点为非孤立节点的情况下，进行占位码编码；
在所述当前待编码节点为孤立节点的情况下，进行孤立点编码。
本申请实施例中，进行占位码编码可以理解为通过上下文自适应的二进制算术编码(Context-based Adaptive Binary Arithmetic Coding，CABAC)编码当前待编码节点的占位码。孤立点编码的方式可以参照相关技术在此不再赘述。
为了更好的理解本申请，以下通过一些具体实例进行详细说明。首先开辟一部分内存保存已编码帧得到的重建点云作为当前帧点云的参考帧重建点云记为pointcloudPred。如图5所示，八叉树编码的处理流程如下：
1、对当前帧点云(pointcloud)进行量化得到当前帧量化点云记为pointcloudQua；
2、对当前帧量化点云(pointcloudQua)和参考帧重建点云(pointcloudPred)分别进行八叉树划分，得到八叉树的占据码分别记为占据码(occupancy)和重建占据码(occupancyPred)，8位占据码的每一位分别记为Oi和OPi，其中i＝0…7。并分别将当前点云和参考点云的8位占据码缓存到哈希表中，便于后面为节点寻找邻居信息。
3、判断当前节点是否满足孤立点编码条件，如果满足孤立点编码条件则判断该节点是否是真正的孤立点，如果是孤立点则编码孤立点标志singleNodeFlag＝1，并且编码孤立点坐标，否则编码标志singleNodeFlag＝0，进行占位码编码。可选地，孤立点编码条件包括如下条件：
目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点；
所述第N帧点云对应的几何头信息的直接编码标识符为预设值；
在所述当前待编码节点对应的空间块存在L个方向的边长大于预设最小边长的情况下，目标点的待编码莫顿码位数之和大于L的预设倍，所述目标 点包括第一几何信息中位于所述当前待编码节点对应的空间块内的点，L为自然数。
4、在哈希表缓存中查参考帧对应子节点的共面共线共点的26个邻居节点的占位模式或26个邻居节点的子集的占位模式，并且对参考帧对应子节点及其邻居节点被占据的数量进行加权，假设参考帧对应子节点的权重是Wcur，参考帧对应子节点的共面邻居节点权重是Wf，参考帧对应子节点的共线邻居节点权重是Wl，参考帧对应子节点的共点邻居节点权重是Wp，那么可以得到加权值count＝OCcur*Wcur+OCf*Wf+OCl*Wl++OCp*Wp，其中OC代表参考帧对应子节点被占据的数量，OCf代表参考帧对应子节点的共面邻居节点被占据的数量，OCl代表参考帧对应子节点的共线邻居节点被占据的数量，OCl代表参考帧对应子节点的共点邻居节点被占据的数量，并且Wcur≥Wf≥Wl≥Wp。比较count和阈值(Threshold，TH)的大小。上述权重和阈值都可以进行调整。参考帧对应子节点可以理解为参考帧重建点云对应的节点中与当前进行熵编码的子节点对应的节点。
5、如果count>TH使用第一套上下文进行熵编码，否则使用第二套上下文进行熵编码。其中第一套上下文可以通过帧间对应节点的邻居节点占据模式进行设计，第二套上下文可以是使用帧内的上下文。
请参见图6，图6是本申请实施例提供的一种点云解码处理方法的流程图，如图6所示，包括以下步骤：
步骤601，在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信息，N为大于1的整数；
步骤602，根据所述当前待解码节点是否满足孤立点解码条件，确定所述当前待解码节点的解码模式；
其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。
应理解，本申请实施例中，第一几何信息可以基于所述第N帧点云对应的几何码流经过熵解码和多叉树重建获得。
可选地，所述目标节点包括以下至少一项：
第一节点的子节点，所述第一节点为第二几何信息对应的树结构中与所述当前待解码节点对应的节点，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息；
所述第一节点的邻居节点；
所述第一节点的邻居节点的子节点。
可选地，第一节点的邻居节点包括以下至少一项：
所述第一节点的同层节点；
所述第一节点的父节点对应的同层节点的子节点。
可选地，所述目标节点被占据的情况满足预设条件包括以下至少一项：
所述目标节点被占据的节点数小于第一阈值；
第二几何信息中位于所述目标节点对应的空间块内的点的数量小于第二阈值，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息。
可选地，所述孤立点解码条件还包括：
所述第N帧点云对应的几何头信息的直接解码标识符为预设值；
在所述当前待解码节点对应的空间块存在L个方向的边长大于预设最小边长的情况下，目标点的待解码莫顿码位数之和大于L的预设倍，所述目标点包括第一几何信息中位于所述当前待解码节点对应的空间块内的点，L为自然数。
可选地，所述当前待解码节点的解码模式包括孤立点解码模式或占位码解码模式，在所述当前待解码节点满足孤立点解码条件的情况下，所述当前待解码节点的解码模式为孤立点解码模式；在所述当前待解码节点不满足孤立点解码条件的情况下，所述当前待解码节点的解码模式为占位码解码模式。
可选地，在所述当前待解码节点的解码模式为孤立点解码模式的情况下，所述方法还包括：
在所述当前待解码节点为非孤立节点的情况下，进行占位码解码；
在所述当前待解码节点为孤立节点的情况下，进行孤立点解码。
需要说明的是，本实施例作为图4所示的实施例对应的解码端的实施方式，解码过程为编码过程的逆过程，其具体的实施方式可以参见图4所示的 实施例相关说明，以及达到相同的有益效果，为了避免重复说明，此处不再赘述。
需要说明的是，本申请实施例提供的点云编码处理方法，执行主体可以为点云编码处理装置，或者，该点云编码处理装置中的用于执行点云编码处理方法的控制模块。本申请实施例中以点云编码处理装置执行点云编码处理方法为例，说明本申请实施例提供的点云编码处理装置。
请参见图7，图7是本申请实施例提供的一种点云编码处理装置的结构图，如图7所示，点云编码处理装置700包括：
第一获取模块701，用于在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；
第一确定模块702，用于根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；
其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。
可选地，所述目标节点包括以下至少一项：
第一节点的子节点，所述第一节点为第二几何信息对应的树结构中与所述当前待编码节点对应的节点，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息；
所述第一节点的邻居节点；
所述第一节点的邻居节点的子节点。
可选地，第一节点的邻居节点包括以下至少一项：
所述第一节点的同层节点；
所述第一节点的父节点对应的同层节点的子节点。
可选地，所述目标节点被占据的情况满足预设条件包括以下至少一项：
所述目标节点被占据的节点数小于第一阈值；
第二几何信息中位于所述目标节点对应的空间块内的点的数量小于第二阈值，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信 息。
可选地，所述孤立点编码条件还包括：
所述第N帧点云对应的几何头信息的直接编码标识符为预设值；
在所述当前待编码节点对应的空间块存在L个方向的边长大于预设最小边长的情况下，目标点的待编码莫顿码位数之和大于L的预设倍，所述目标点包括第一几何信息中位于所述当前待编码节点对应的空间块内的点，L为自然数。
可选地，所述当前待编码节点的编码模式包括孤立点编码模式或占位码编码模式，在所述当前待编码节点满足孤立点编码条件的情况下，所述当前待编码节点的编码模式为孤立点编码模式；在所述当前待编码节点不满足孤立点编码条件的情况下，所述当前待编码节点的编码模式为占位码编码模式。
可选地，所述点云编码处理装置还包括第一执行模块，所述第一执行模块用于在所述当前待编码节点的编码模式为孤立点编码模式的情况下，执行以下操作：
在所述当前待编码节点为非孤立节点的情况下，进行占位码编码；
在所述当前待编码节点为孤立节点的情况下，进行孤立点编码。
本申请实施例提供的点云编码处理装置能够实现图4的方法实施例中各个过程，为避免重复，这里不再赘述。
需要说明的是，本申请实施例提供的点云解码处理方法，执行主体可以为点云解码处理装置，或者，该点云解码处理装置中的用于执行点云解码处理方法的控制模块。本申请实施例中以点云解码处理装置执行点云解码处理方法为例，说明本申请实施例提供的点云解码处理装置。
请参见图8，图8是本申请实施例提供的一种点云解码处理装置的结构图，如图8所示，点云解码处理装置800包括：
第二获取模块801，用于在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信息，N为大于1的整数；
第二确定模块802，用于根据所述当前待解码节点是否满足孤立点解码 条件，确定所述当前待解码节点的解码模式；
其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。
可选地，所述目标节点包括以下至少一项：
第一节点的子节点，所述第一节点为第二几何信息对应的树结构中与所述当前待解码节点对应的节点，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息；
所述第一节点的邻居节点；
所述第一节点的邻居节点的子节点。
可选地，第一节点的邻居节点包括以下至少一项：
所述第一节点的同层节点；
所述第一节点的父节点对应的同层节点的子节点。
可选地，所述目标节点被占据的情况满足预设条件包括以下至少一项：
所述目标节点被占据的节点数小于第一阈值；
第二几何信息中位于所述目标节点对应的空间块内的点的数量小于第二阈值，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息。
可选地，所述孤立点解码条件还包括：
所述第N帧点云对应的几何头信息的直接解码标识符为预设值；
在所述当前待解码节点对应的空间块存在L个方向的边长大于预设最小边长的情况下，目标点的待解码莫顿码位数之和大于L的预设倍，所述目标点包括第一几何信息中位于所述当前待解码节点对应的空间块内的点，L为自然数。
可选地，所述当前待解码节点的解码模式包括孤立点解码模式或占位码解码模式，在所述当前待解码节点满足孤立点解码条件的情况下，所述当前待解码节点的解码模式为孤立点解码模式；在所述当前待解码节点不满足孤立点解码条件的情况下，所述当前待解码节点的解码模式为占位码解码模式。
可选地，所述点云编码处理装置还包括第一执行模块，所述第一执行模块用于在所述当前待解码节点的解码模式为孤立点解码模式的情况下，执行 以下操作：
在所述当前待解码节点为非孤立节点的情况下，进行占位码解码；
在所述当前待解码节点为孤立节点的情况下，进行孤立点解码。
本申请实施例提供的点云解码处理装置能够实现图4的方法实施例中各个过程，为避免重复，这里不再赘述。
本申请实施例中的点云解码处理装置可以是装置，具有操作系统的装置或电子设备，也可以是终端中的部件、集成电路、或芯片。该装置可以是移动终端，也可以为非移动终端。示例性的，移动终端可以包括但不限于上述所列举的终端的类型，非移动终端可以为服务器、网络附属存储器(Network Attached Storage，NAS)、个人计算机(personal computer，PC)、电视机(television，TV)、柜员机或者自助机等，本申请实施例不作具体限定。
本申请实施例提供的点云编码处理装置和点云解码处理装置能够实现图4至图6的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
可选的，如图9所示，本申请实施例还提供一种通信设备900，包括处理器901，存储器902，存储在存储器902上并可在所述处理器901上运行的程序或指令，例如，该程序或指令被处理器901执行时实现上述点云的几何信息编码处理方法或点云的几何信息解码处理方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供一种终端，包括处理器和通信接口，处理器用于执行以下操作：在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点；或者，处理器用于执行以下操作：在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信 息，N为大于1的整数；根据所述当前待解码节点是否满足孤立点解码条件，确定所述当前待解码节点的解码模式；其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。该终端实施例是与上述终端侧方法实施例对应的，上述方法实施例的各个实施过程和实现方式均可适用于该终端实施例中，且能达到相同的技术效果。具体地，图10为实现本申请各个实施例的一种终端的硬件结构示意图。
该终端1000包括但不限于：射频单元1001、网络模块1002、音频输出单元1003、输入单元1004、传感器1005、显示单元1006、用户输入单元1007、接口单元1008、存储器1009以及处理器1010等中的至少部分部件。
本领域技术人员可以理解，终端1000还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器1010逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图10中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元1004可以包括图形处理器(Graphics Processing Unit，GPU)和麦克风，图形处理器对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元1006可包括显示面板，可以采用液晶显示器、有机发光二极管等形式来配置显示面板。用户输入单元1007包括触控面板以及其他输入设备。触控面板，也称为触摸屏。触控面板可包括触摸检测装置和触摸控制器两个部分。其他输入设备可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元1001将来自网络侧设备的下行数据接收后，给处理器1010处理；另外，将上行的数据发送给网络侧设备。通常，射频单元1001包括但不限于天线、至少一个放大器、收发信机、耦合器、低噪声放大器、双工器等。
存储器1009可用于存储软件程序或指令以及各种数据。存储器1009可主要包括存储程序或指令区和存储数据区，其中，存储程序或指令区可存储 操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器1009可以包括高速随机存取存储器，还可以包括非瞬态性存储器，其中，非瞬态性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。例如至少一个磁盘存储器件、闪存器件、或其他非瞬态性固态存储器件。
处理器1010可包括一个或多个处理单元；可选的，处理器1010可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序或指令等，调制解调处理器主要处理无线通信，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器1010中。
其中，处理器1010用于执行以下操作：
在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；
根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；
其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。
或者，处理器1010用于执行以下操作：
在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信息，N为大于1的整数；
根据所述当前待解码节点是否满足孤立点解码条件，确定所述当前待解码节点的解码模式；
其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。
应理解，本实施例中，上述处理器1010能够实现图4和6的方法实施例实现的各个过程，为避免重复，这里不再赘述。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述点云编码处理方法或点云解码处理方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的电子设备中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
本申请实施例还提供一种计算机程序产品，所述计算机程序产品被存储在非瞬态的存储介质中，所述计算机程序产品被至少一个处理器执行以实现上述点云编码处理方法或点云解码处理方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述点云编码处理方法或点云解码处理方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片、系统芯片、芯片系统或片上系统芯片等。
本申请实施例另提供了一种程序产品，所述程序产品存储在非瞬态的存储介质中，所述程序产品被至少一个处理器执行以实现上述点云编码处理方法或点云解码处理方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还 可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者基站等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (27)

  1. 一种点云编码处理方法，包括：
    在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；
    根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；
    其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。
  2. 根据权利要求1所述的方法，其中，所述目标节点包括以下至少一项：
    第一节点的子节点，所述第一节点为第二几何信息对应的树结构中与所述当前待编码节点对应的节点，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息；
    所述第一节点的邻居节点；
    所述第一节点的邻居节点的子节点。
  3. 根据权利要求2所述的方法，其中，第一节点的邻居节点包括以下至少一项：
    所述第一节点的同层节点；
    所述第一节点的父节点对应的同层节点的子节点。
  4. 根据权利要求1所述的方法，其中，所述目标节点被占据的情况满足预设条件包括以下至少一项：
    所述目标节点被占据的节点数小于第一阈值；
    第二几何信息中位于所述目标节点对应的空间块内的点的数量小于第二阈值，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息。
  5. 根据权利要求1所述的方法，其中，所述孤立点编码条件还包括：
    所述第N帧点云对应的几何头信息的直接编码标识符为预设值；
    在所述当前待编码节点对应的空间块存在L个方向的边长大于预设最小 边长的情况下，目标点的待编码莫顿码位数之和大于L的预设倍，所述目标点包括第一几何信息中位于所述当前待编码节点对应的空间块内的点，L为自然数。
  6. 根据权利要求1所述的方法，其中，所述当前待编码节点的编码模式包括孤立点编码模式或占位码编码模式，在所述当前待编码节点满足孤立点编码条件的情况下，所述当前待编码节点的编码模式为孤立点编码模式；在所述当前待编码节点不满足孤立点编码条件的情况下，所述当前待编码节点的编码模式为占位码编码模式。
  7. 根据权利要求6所述的方法，其中，在所述当前待编码节点的编码模式为孤立点编码模式的情况下，所述方法还包括：
    在所述当前待编码节点为非孤立节点的情况下，进行占位码编码；
    在所述当前待编码节点为孤立节点的情况下，进行孤立点编码。
  8. 一种点云解码处理方法，包括：
    在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信息，N为大于1的整数；
    根据所述当前待解码节点是否满足孤立点解码条件，确定所述当前待解码节点的解码模式；
    其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。
  9. 根据权利要求8所述的方法，其中，所述目标节点包括以下至少一项：
    第一节点的子节点，所述第一节点为第二几何信息对应的树结构中与所述当前待解码节点对应的节点，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息；
    所述第一节点的邻居节点；
    所述第一节点的邻居节点的子节点。
  10. 根据权利要求9所述的方法，其中，第一节点的邻居节点包括以下至少一项：
    所述第一节点的同层节点；
    所述第一节点的父节点对应的同层节点的子节点。
  11. 根据权利要求8所述的方法，其中，所述目标节点被占据的情况满足预设条件包括以下至少一项：
    所述目标节点被占据的节点数小于第一阈值；
    第二几何信息中位于所述目标节点对应的空间块内的点的数量小于第二阈值，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息。
  12. 根据权利要求8所述的方法，其中，所述孤立点解码条件还包括：
    所述第N帧点云对应的几何头信息的直接解码标识符为预设值；
    在所述当前待解码节点对应的空间块存在L个方向的边长大于预设最小边长的情况下，目标点的待解码莫顿码位数之和大于L的预设倍，所述目标点包括第一几何信息中位于所述当前待解码节点对应的空间块内的点，L为自然数。
  13. 根据权利要求8所述的方法，其中，所述当前待解码节点的解码模式包括孤立点解码模式或占位码解码模式，在所述当前待解码节点满足孤立点解码条件的情况下，所述当前待解码节点的解码模式为孤立点解码模式；在所述当前待解码节点不满足孤立点解码条件的情况下，所述当前待解码节点的解码模式为占位码解码模式。
  14. 根据权利要求13所述的方法，其中，在所述当前待解码节点的解码模式为孤立点解码模式的情况下，所述方法还包括：
    在所述当前待解码节点为非孤立节点的情况下，进行占位码解码；
    在所述当前待解码节点为孤立节点的情况下，进行孤立点解码。
  15. 一种点云编码处理装置，包括：
    第一获取模块，用于在目标队列中获取当前待编码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息基于待编码的第N帧点云的几何信息进行预处理得到，N为大于1的整数；
    第一确定模块，用于根据所述当前待编码节点是否满足孤立点编码条件，确定所述当前待编码节点的编码模式；
    其中，所述孤立点编码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已编码节点中与所述当前待编码节点关联的节点。
  16. 根据权利要求15所述的装置，其中，所述目标节点包括以下至少一项：
    第一节点的子节点，所述第一节点为第二几何信息对应的树结构中与所述当前待编码节点对应的节点，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息；
    所述第一节点的邻居节点；
    所述第一节点的邻居节点的子节点。
  17. 根据权利要求16所述的装置，其中，第一节点的邻居节点包括以下至少一项：
    所述第一节点的同层节点；
    所述第一节点的父节点对应的同层节点的子节点。
  18. 根据权利要求15所述的装置，其中，所述目标节点被占据的情况满足预设条件包括以下至少一项：
    所述目标节点被占据的节点数小于第一阈值；
    第二几何信息中位于所述目标节点对应的空间块内的点的数量小于第二阈值，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息。
  19. 一种点云解码处理装置，包括：
    第二获取模块，用于在目标队列中获取当前待解码节点，所述目标队列包括基于第一几何信息已构建的树结构中对应的空间块被占据的节点，所述第一几何信息为待解码的第N帧点云已解码节点对应的几何信息，N为大于1的整数；
    第二确定模块，用于根据所述当前待解码节点是否满足孤立点解码条件，确定所述当前待解码节点的解码模式；
    其中，所述孤立点解码条件包括：目标节点被占据的情况满足预设条件，所述目标节点为已解码节点中与所述当前待解码节点关联的节点。
  20. 根据权利要求19所述的装置，其中，所述目标节点包括以下至少一 项：
    第一节点的子节点，所述第一节点为第二几何信息对应的树结构中与所述当前待解码节点对应的节点，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息；
    所述第一节点的邻居节点；
    所述第一节点的邻居节点的子节点。
  21. 根据权利要求20所述的装置，其中，第一节点的邻居节点包括以下至少一项：
    所述第一节点的同层节点；
    所述第一节点的父节点对应的同层节点的子节点。
  22. 根据权利要求19所述的装置，其中，所述目标节点被占据的情况满足预设条件包括以下至少一项：
    所述目标节点被占据的节点数小于第一阈值；
    第二几何信息中位于所述目标节点对应的空间块内的点的数量小于第二阈值，所述第二几何信息为所述第N帧点云对应的参考帧点云的重建几何信息。
  23. 一种终端，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的程序，其中，所述程序被所述处理器执行时实现如权利要求1至7中任一项所述的点云编码处理方法中的步骤，或者所述程序被所述处理器执行时实现如权利要求8至14中任一项所述的点云解码处理方法中的步骤。
  24. 一种可读存储介质，所述可读存储介质上存储程序或指令，其中，所述程序被所述处理器执行时实现如权利要求1至7中任一项所述的点云编码处理方法中的步骤，或者所述程序被所述处理器执行时实现如权利要求8至14中任一项所述的点云解码处理方法中的步骤。
  25. 一种芯片，包括处理器和通信接口，所述通信接口和所述处理器耦合，其中，所述处理器用于运行程序或指令，实现如权利要求1至7中任一项所述的点云编码处理方法中的步骤，或者实现如权利要求8至14中任一项所述的点云解码处理方法中的步骤。
  26. 一种计算机程序产品，所述计算机程序产品被存储在非瞬态的可读存储介质中，其中，所述计算机程序产品被至少一个处理器执行以实现如权利要求1至7中任一项所述的点云编码处理方法中的步骤，或者实现如权利要求8至14中任一项所述的点云解码处理方法中的步骤。
  27. 一种通信设备，被配置为执行如权利要求1至7中任一项所述的点云编码处理方法中的步骤，或者执行如权利要求8至14中任一项所述的点云解码处理方法中的步骤。
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