WO2023051783A1 - Encoding method, decoding method, apparatus, device, and readable storage medium - Google Patents
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Definitions
- the present application relates to the technical field of image processing, and relates to but not limited to an encoding method, decoding method, device, equipment and readable storage medium.
- Point cloud data consists of a large number of three-dimensional disordered points, each point includes position information (X, Y, Z) and several attribute information (color, normal vector, etc.).
- point cloud compression technology In order to facilitate the storage and transmission of point cloud data, point cloud compression technology has gradually become the focus of attention.
- the prior art provides a scheme to selectively encode one or more 3D point cloud blocks using inter-coding (eg, motion compensation) techniques of previously encoded/decoded frames.
- inter-coding eg, motion compensation
- Embodiments of the present application provide an encoding method, a decoding method, a device, a device, and a readable storage medium, so as to improve processing performance.
- An embodiment of the present application provides an encoding method applied to an encoding device, including:
- the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
- the embodiment of the present application also provides a decoding method, which is applied to a decoding device, and the method includes:
- the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
- the embodiment of the present application also provides an encoding device, including:
- the first acquisition module is configured to cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds;
- the first generation module is configured to, for any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and, in the target sub-point cloud
- the Euclidean distance between the target point and the corresponding point of the target point generates a generalized Laplacian matrix
- the first transformation module is configured to use the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the target sub-point cloud;
- the first encoding module is configured to respectively quantize and encode the transformed sub-point clouds to obtain encoded code streams
- the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
- the embodiment of the present application also provides a decoding device, including:
- the second obtaining module is configured to obtain the encoded code stream
- the second transformation module is configured to perform an inverse Fourier transformation of the encoded code stream based on Euclidean distance weights to obtain a transformation result
- the first decoding module is configured to obtain a decoded code stream based on the transformation result
- the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
- the embodiment of the present application also provides an electronic device, including: a memory, a processor, and a program stored in the memory and operable on the processor.
- a program stored in the memory and operable on the processor.
- the embodiment of the present application further provides a readable storage medium, where a program is stored on the readable storage medium, and when the program is executed by a processor, the steps in the encoding method or decoding method as described above are implemented.
- the point cloud data to be processed in the current frame is clustered to obtain multiple sub-point clouds, and for any target sub-point cloud, according to the relationship between multiple point pairs in the target sub-point cloud
- the Euclidean distance, and the Euclidean distance between the target point in the target sub-point cloud and the corresponding point of the target point generates a generalized Laplacian matrix, and using the generalized Laplacian matrix, respectively Inter-frame prediction and image Fourier residual transformation are performed on the plurality of sub-point clouds, so as to obtain an encoded code stream based on the transformation result.
- the global correlation feature can be used to more fully express the correlation between points, so that The similarity between point cloud data can be removed as much as possible, and the coding performance can be improved.
- the performance of the encoding end is improved, correspondingly, for the decoding end, since the data to be decoded is optimized, the decoding efficiency and performance can be improved accordingly.
- Fig. 1 is a flow chart of the encoding method provided by the embodiment of the present application.
- Fig. 2 and Fig. 3 are the schematic diagrams comparing the effect of the method of the embodiment of the present application and the method of the prior art;
- Fig. 4 is a flow chart of the decoding method provided by the embodiment of the present application.
- FIG. 5 is a structural diagram of an encoding device provided in an embodiment of the present application.
- FIG. 6 is a structural diagram of a decoding device provided by an embodiment of the present application.
- FIG. 1 is a flowchart of an encoding method provided by an embodiment of the present application, which is applied to an encoding device. As shown in Figure 1, the following steps are included:
- Step 101 Cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds.
- a 3D grid with a preset size is constructed, and the point cloud data to be processed is placed in the constructed 3D grid to obtain the coordinates of each point, and the 3D grid containing the points is used as a point cloud voxel to obtain Multiple point cloud voxels.
- the coordinates and attribute information of each point cloud voxel can also be obtained.
- the attribute information includes intensity, color and so on.
- the coordinates of the point cloud voxel can be the coordinates of the center point of each point in the point cloud voxel; the color information of the point cloud voxel can be the color information of each point in the point cloud voxel average value.
- the point cloud data to be processed can also be voxelized by means of an octree to obtain multiple point cloud voxels.
- the method of uniform space division is used to cluster the point cloud data.
- a clustering method for example, a K-means clustering method can be used.
- the point cloud data to be processed is divided into multiple sub-point clouds based on the location information, and the space is evenly divided.
- Each sub-point cloud can be encoded independently.
- Step 102 for any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and the target point in the target sub-point cloud and The Euclidean distance between corresponding points of the target point generates a generalized Laplacian matrix.
- the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
- any sub-point cloud in the plurality of sub-point clouds can be used as the target sub-point cloud.
- each target sub-point cloud is treated in the same way.
- the target sub-point cloud may include multiple points, and every two points constitute a point pair in this embodiment.
- the Euclidean distance between two points in each point pair is calculated. For example, for the i-th point and the j-th point in the target sub-point cloud, the Euclidean distance between the i-th point and the j-th point is calculated.
- the Euclidean distance d(i,j) between point i(x 1 , x 2 ... x n ) and point j (y 1 , y 2 ... y n ) it can be The following formula (1) is calculated:
- 1 ⁇ i ⁇ M, 1 ⁇ j ⁇ M, i, j, M are integers, and M is the total number of points included in the target sub-point cloud.
- weights are calculated according to the following formula (2), and the weights are used to form the weight matrix W:
- W ij represents the weight corresponding to the edge from the i-th point to the j-th point in the target sub-point cloud; distance represents the Euclidean distance between the i-th point and the j-th point; ⁇ is not equal to 0 Constant, representing the tuning parameter.
- the difference between the degree matrix and the weight matrix is used as a Laplacian matrix.
- L D-W
- D represents a degree matrix
- W represents a weight matrix
- the diagonal element d i ⁇ j W ij of the degree matrix, and other elements are 0.
- d i represents the i-th diagonal element of the degree matrix
- W ij represents the weight corresponding to the edge from the i-th point to the j-th point in the target sub-point cloud
- the diagonal matrix is generated according to the Euclidean distance between the target point in the target sub-point cloud and the corresponding point of the target point.
- the reference point cloud of the target sub-point element may first be determined in the reference frame. For example, motion estimation is performed in a reference frame and a matching reference point cloud is found. Among them, there is a one-to-one correspondence between the target sub-point cloud and the reference point. For example, using an iterative closest point algorithm, in the reference frame, the reference point cloud of the target sub-point element can be determined based on the Euclidean distance. Then, the diagonal matrix D w is generated based on the Euclidean distance between each point in the target sub-point cloud and the corresponding point of each point in the reference point cloud.
- the value on the i-th diagonal of the diagonal matrix is the reciprocal of the Euclidean distance between the i-th point and point p, and other elements are 0.
- point p is the corresponding point of the i-th point in the reference point cloud.
- the sum of the diagonal matrix and the Laplacian matrix is used as the generalized Laplacian matrix.
- Lg L+D w , where Lg represents a generalized Laplacian matrix, L represents a Laplacian matrix, and D w represents a diagonal matrix.
- Step 103 using the generalized Laplacian matrix, perform inter-frame prediction and image Fourier residual transformation on the target sub-point cloud.
- inter-frame prediction and graph Fourier residual transform can be understood as inter-frame prediction and graph Fourier residual transform based on Euclidean distance weights, which may include the following:
- an inter-frame prediction method is used to predict the attribute value of the current frame by using the reference frame.
- the attributes may include color, intensity, normal vector and so on.
- the target attribute can be any attribute.
- the attribute prediction value of the reference frame to the target attribute of the current frame is obtained:
- x t-1 indicates the attribute value of the target attribute of the reference frame
- Lg indicates the generalized Laplacian matrix
- the difference between the attribute value of the target attribute of the current frame and the attribute prediction value of the target attribute of the current frame by the reference frame can be used as the residual, as shown in formula (4) :
- ⁇ represents the residual of the target attribute of the current frame, Indicates the attribute prediction value of the target attribute of the reference frame to the current frame, x t represents the attribute value of the target attribute of the current frame.
- the residual is obtained through an inter-frame prediction method, so as to obtain as much difference between two frames as possible. Since the same part between two frames does not require additional processing, the bit rate can be saved by calculating the residual.
- a transformation matrix is obtained by using the generalized Laplacian matrix, and then the residual of the target attribute of the current frame is transformed by using the transformation matrix.
- Lg represents the generalized Laplacian matrix
- ⁇ represents the transformation result
- ⁇ represents the transformation matrix
- ⁇ represents the residual of the target attribute of the current frame.
- the processing method for other sub-point clouds is the same as that for the target sub-point cloud.
- Step 104 Quantize and code the transformed sub-point clouds respectively to obtain coded code streams.
- the color can be decomposed into three 3 ⁇ 1 vectors (for example: color space model (Luminance Chrominance-Blue Chrominance-Red, YUV) or (Red Green Blue, RGB)).
- color space model Luminance Chrominance-Blue Chrominance-Red, YUV
- RGB Red Green Blue
- the Y component predicts the attribute value of the current frame according to the process in S1031, and generate a residual according to S1032. After that, transform the residual by using S1033.
- the transformed Y component is uniformly quantized and arithmetically encoded to obtain a code stream. For each component, it can be processed in the same way as the Y component.
- the global correlation feature can be used to more fully express the point-to-point The correlation between them, so that the similarities between point cloud data can be removed as much as possible, and the coding performance can be improved.
- Figure 2 shows the method and region adaptive hierarchical transformation (Region Adaptive Hierarchical Transform, RAHT) of the embodiment of the present application, and the main direction weight map Fourier transform ( Main direction Weight Chart Fourier Transform, NWCFT) method performance comparison.
- RAHT Region adaptive hierarchical transformation
- NWCFT Main direction Weight Chart Fourier Transform
- the comparison of the determined rate-distortion performance, here, the benchmark data sets 1 to 9 can be point cloud data respectively: Longdress, Loot, Redandblack, Soldier, Andrew, David, Phil, Ricardo and Sarah.
- the data comparison with the RAHT method was done, as shown in Figure 3.
- FIG. 4 is a flowchart of a decoding method provided by an embodiment of the present application, which is applied to an encoding device. As shown in Figure 4, the following steps are included:
- Step 401 Acquire an encoded code stream.
- the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
- Step 402 Perform inverse Fourier transform of the graph based on the Euclidean distance weight on the coded code stream to obtain a transform result.
- Step 403 Obtain a decoded code stream based on the transformation result.
- the global correlation feature can be used to more fully express the point-to-point The correlation between them, so that the similarities between point cloud data can be removed as much as possible, and the coding performance can be improved. Since the performance of the encoding end is improved, correspondingly, for the decoding end, since the data to be decoded is optimized, the decoding efficiency and performance can be improved accordingly.
- FIG. 5 is a structural diagram of an encoding device provided by an embodiment of the present application. Since the problem-solving principle of the encoding device is similar to the encoding method in the embodiment of the present application, reference may be made to the implementation of the method for the implementation of the encoding device.
- the encoding device 500 includes:
- the first acquisition module 501 is configured to cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds;
- the first generating module 502 is configured to, for any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and the target sub-point cloud
- the Euclidean distance between the target point in and the corresponding point of the target point generates a generalized Laplacian matrix
- the first transformation module 503 is configured to use the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the target sub-point cloud;
- the first encoding module 504 is configured to respectively quantize and encode the transformed multiple sub-point clouds to obtain an encoded code stream; wherein, the corresponding point is located in the reference point cloud of the target sub-point cloud, and the reference point The cloud is located in the reference frame of the current frame.
- the first acquisition module 501 includes: a first processing submodule configured to voxelize the point cloud data to be processed to obtain point cloud voxels; a first acquisition submodule configured In order to cluster the voxelized point cloud data, multiple sub-point clouds are obtained.
- the first generation module 502 includes: a second acquisition submodule configured to obtain a weight matrix according to the Euclidean distance between multiple point pairs in the target sub-point cloud; a third acquisition submodule , configured to obtain a Laplacian matrix according to the degree matrix and the weight matrix; the first generation submodule is configured to generate a diagonal matrix; the second generation submodule is configured to obtain a Laplacian matrix according to the diagonal matrix and the Laplacian Placian matrix to get the generalized Laplacian matrix.
- the second acquisition submodule includes: a first calculation unit configured to calculate the i-th point and the j-th point in the target sub-point cloud to obtain the i-th point and the j-th point The Euclidean distance between points; the first acquisition unit is configured to calculate the weight according to the following formula, and use the weight to form the weight matrix: Among them, W ij represents the weight corresponding to the edge from the i-th point to the j-th point in the target sub-point cloud; distance represents the Euclidean distance between the i-th point and the j-th point; ⁇ is not equal to 0 A constant represents an adjustment parameter; 1 ⁇ i ⁇ M, 1 ⁇ j ⁇ M, i, j, and M are integers, and M is the total number of points included in the target sub-point cloud.
- the first generating submodule includes: a first determining unit configured to determine a reference point cloud of the target sub-point element in the reference frame; a first generating unit configured to The Euclidean distance between each point in the point cloud and the corresponding point of each point in the reference point cloud generates the diagonal matrix; wherein, the i-th diagonal of the diagonal matrix The value on is the reciprocal of the Euclidean distance between the i-th point and point p, where point p is the corresponding point of the i-th point in the reference point cloud.
- the first determination unit is configured to determine the reference point cloud of the target sub-point element in the reference frame by using an iterative closest point algorithm.
- the first transformation module 503 includes: a fourth acquisition submodule, configured to acquire the attribute prediction value of the reference frame to the target attribute of the current frame; a third generation submodule, configured to The attribute value of the target attribute of the current frame and the attribute prediction value of the target attribute of the current frame by the reference frame generate a residual of the target attribute of the current frame; the first transformation submodule is configured to be based on the The generalized Laplacian matrix transforms the residual of the target attribute of the current frame.
- the fourth obtaining submodule is configured to obtain the attribute prediction value of the reference frame for the target attribute of the current frame according to the following formula: in, Indicates the attribute prediction value of the reference frame to the target attribute of the current frame, x t-1 indicates the attribute value of the target attribute of the reference frame, and Lg indicates the generalized Laplacian matrix.
- the third generating submodule is configured to use the difference between the attribute value of the target attribute of the current frame and the attribute prediction value of the target attribute of the current frame by the reference frame as the residual.
- the first transformation submodule includes: a second acquisition unit configured to use the generalized Laplacian matrix to obtain a transformation matrix; a first transformation unit configured to use the transformation matrix to transform the The residual of the target attribute of the current frame is transformed.
- the second acquisition unit is configured to solve the following formula to obtain the transformation matrix:
- Lg represents the generalized Laplacian matrix
- the first transformation unit is configured to use the following formula to obtain the transformation result: Among them, ⁇ represents the transformation result, represents the transformation matrix, and ⁇ represents the residual of the target attribute of the current frame.
- the encoding device 500 provided in the embodiment of the present application can implement the corresponding embodiment of the above-mentioned encoding method, and its implementation principle and technical effect are similar, so this embodiment will not be described here again.
- FIG. 6 is a structural diagram of a decoding device provided by an embodiment of the present application. Since the principle of the decoding device to solve the problem is similar to the decoding method in the embodiment of the present application, the implementation of the decoding device can refer to the implementation of the method, and the repetition will not be repeated.
- the decoding device 600 includes:
- the second obtaining module 601 is configured to obtain an encoded code stream
- the second transformation module 602 is configured to perform an inverse Fourier transformation of the encoded code stream based on Euclidean distance weights to obtain a transformation result;
- the first decoding module 603 is configured to obtain a decoded code stream based on the transformation result
- the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
- the second transformation module includes: a second processing submodule configured to dequantize the coded code stream; a second transformation submodule configured to dequantize the coded code stream based on Inverse Fourier transform of the graph with Euclidean distance weights to obtain the transformation result.
- the first transformation sub-module is configured to use the following formula to perform inverse Fourier transform of the graph based on Euclidean distance weights on the coded code stream after dequantization: in, Indicates the inverse transformation residual value, represents the transformation matrix, Represents the quantized residual value of the target attribute of the current frame, and ⁇ represents the inverse quantization coefficient.
- the decoding device 600 provided in the embodiment of the present application can execute the corresponding embodiment of the above-mentioned decoding method, and its implementation principle and technical effect are similar, so this embodiment will not be described here again.
- each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
- the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
- the integrated unit is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a processor-readable storage medium.
- the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application.
- the aforementioned storage medium includes: U disk, mobile hard disk, read only memory (Read Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other various media that can store program codes.
- the embodiment of the present application also provides an electronic device, including: a memory, a processor, and a program stored in the memory and operable on the processor.
- a program stored in the memory and operable on the processor.
- the embodiment of the present application also provides a readable storage medium, on which a program is stored, and when the program is executed by a processor, each process of the above encoding or decoding method embodiment can be achieved, and the same technical effect can be achieved. To avoid repetition, it is not described here.
- the readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disk, hard disk, magnetic tape, magneto optical disc (Magneto Optical disc, MO disc) etc.), optical storage (such as: laser disc (Compact Disk, CD), digital versatile disc (Digital Versatile Disc, DVD), Blu-ray Disc (Blu-ray Disc, BD), high-definition universal disc (High-Definition Versatile Disc, HVD ), etc.), and semiconductor memory; for example: ROM, Erasable Programmable Read Only Memory (Erasable Programmable Read Only Memory, EPROM), Electrically Erasable Programmable Read Only Memory (EEPROM), non- Volatile Memory (Non Volatile Memory NVM), Solid State Disk (Solid State Disk, SSD), etc.
- magnetic storage such as floppy disk, hard disk, magnetic tape, magneto optical disc (Magneto Optical disc, MO disc) etc.
- 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 is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk, etc.) ) includes several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method described in each embodiment of the present application.
- a terminal which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.
- the application discloses an encoding method, a decoding method, a device, a device, and a readable storage medium, and relates to the technical field of image processing, so as to improve processing performance.
- the method includes: clustering the point cloud data to be processed in the current frame to obtain multiple sub-point clouds; for any target sub-point cloud in the multiple sub-point clouds, according to multiple The Euclidean distance between point pairs, and the Euclidean distance between the target point in the target sub-point cloud and the corresponding point of the target point generates a generalized Laplacian matrix; using the generalized Laplacian Matrix, performing inter-frame prediction and image Fourier residual transformation on the target sub-point cloud; respectively quantizing and encoding the transformed sub-point clouds to obtain the encoded code stream; wherein, the corresponding point is located in the target sub-point cloud In the reference point cloud of the point cloud, the reference point cloud is located in the reference frame of the current frame.
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Abstract
The present application discloses an encoding method, a decoding method, an apparatus, a device, and a readable storage medium, relating to the technical field of image processing, so as to increase processing performance. The method comprises: clustering point cloud data to be processed in a current frame, to obtain multiple sub-point clouds; generating a generalized Laplacian matrix for any target sub-point cloud of the multiple sub-point clouds, according to Euclidean distances between multiple point pairs in the target sub-point cloud, and a Euclidean distance between a target point in the target sub-point cloud and a point corresponding to the target point; using the generalized Laplacian matrix to perform inter-frame prediction and an image Fourier residual transform on the target sub-point cloud; and separately quantizing and encoding the transformed multiple sub-point clouds, to obtain an encoded code stream; the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
Description
相关申请的交叉引用Cross References to Related Applications
本申请基于申请号为202111160289.X、申请日为2021年09月30日的中国专利申请提出,申请人为咪咕文化科技有限公司、中国移动通信集团有限公司、北京大学,申请名称为“一种编码方法、解码方法、装置、设备及可读存储介质”的技术方案,并要求该中国专利申请的优先权,该中国专利申请的全部内容在此引入本申请作为参考。This application is based on a Chinese patent application with application number 202111160289.X and an application date of September 30, 2021. The applicants are Migu Culture Technology Co., Ltd., China Mobile Communications Group Co., Ltd., and Peking University. The application name is "a Encoding method, decoding method, device, equipment and readable storage medium", and claim the priority of this Chinese patent application, the entire content of this Chinese patent application is hereby incorporated by reference into this application.
本申请涉及图像处理技术领域,涉及但不限于一种编码方法、解码方法、装置、设备及可读存储介质。The present application relates to the technical field of image processing, and relates to but not limited to an encoding method, decoding method, device, equipment and readable storage medium.
随着计算机硬件及算法的发展,三维点云数据的获取越来越方便,点云数据的数据量也越来越大。点云数据由大量的三维无序点组成,每一个点包括位置信息(X,Y,Z)以及若干属性信息(颜色,法向量等)。With the development of computer hardware and algorithms, the acquisition of 3D point cloud data is becoming more and more convenient, and the data volume of point cloud data is also increasing. Point cloud data consists of a large number of three-dimensional disordered points, each point includes position information (X, Y, Z) and several attribute information (color, normal vector, etc.).
为了方便点云数据的存储与传输,点云压缩技术逐渐成为关注的焦点。现有技术提供了一种使用先前编码/解码的帧的帧间编码(例如,运动补偿)技术选择性地编码一个或多个3D点云块的方案。但是,这种方案的编码等处理性能较差。In order to facilitate the storage and transmission of point cloud data, point cloud compression technology has gradually become the focus of attention. The prior art provides a scheme to selectively encode one or more 3D point cloud blocks using inter-coding (eg, motion compensation) techniques of previously encoded/decoded frames. However, the processing performance such as encoding of this scheme is poor.
发明内容Contents of the invention
本申请实施例提供一种编码方法、解码方法、装置、设备及可读存储介质,以提升处理性能。Embodiments of the present application provide an encoding method, a decoding method, a device, a device, and a readable storage medium, so as to improve processing performance.
本申请实施例提供了一种编码方法,应用于编码设备,包括:An embodiment of the present application provides an encoding method applied to an encoding device, including:
将当前帧的待处理的点云数据进行聚类,得到多个子点云;Cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds;
对于所述多个子点云中的任一目标子点云,根据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵;For any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and the target point in the target sub-point cloud and the target The Euclidean distance between the corresponding points of the point generates a generalized Laplacian matrix;
利用所述广义拉普拉斯矩阵,对目标子点云进行帧间预测与图傅里叶残差变换;Using the generalized Laplacian matrix to perform inter-frame prediction and map Fourier residual transformation on the target sub-point cloud;
分别对变换后的多个子点云进行量化和编码,得到编码码流;Quantize and encode the transformed multiple sub-point clouds respectively to obtain the encoded code stream;
其中,所述对应点位于所述目标子点云的参考点云中,所述参考点云位于所述当前帧的参考帧中。Wherein, the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
本申请实施例还提供一种解码方法,应用于解码设备,所述方法包括:The embodiment of the present application also provides a decoding method, which is applied to a decoding device, and the method includes:
获取编码码流;Get the encoded code stream;
对所述编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果;Performing an inverse Fourier transform of the graph based on the Euclidean distance weight on the coded code stream to obtain a transform result;
基于所述变换结果,得到解码码流;Obtaining a decoded code stream based on the transformation result;
其中,所述编码码流是编码设备利用广义拉普拉斯矩阵对子点云进行帧间预测与图傅里叶残差变换的结果进行编码得到的。Wherein, the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
本申请实施例还提供一种编码装置,包括:The embodiment of the present application also provides an encoding device, including:
第一获取模块,配置为将当前帧的待处理的点云数据进行聚类,得到多个子点云;The first acquisition module is configured to cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds;
第一生成模块,配置为对于所述多个子点云中的任一目标子点云,根据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵;The first generation module is configured to, for any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and, in the target sub-point cloud The Euclidean distance between the target point and the corresponding point of the target point generates a generalized Laplacian matrix;
第一变换模块,配置为利用所述广义拉普拉斯矩阵,对所述目标子点云进行帧间预测与图傅里叶残差变换;The first transformation module is configured to use the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the target sub-point cloud;
第一编码模块,配置为分别对变换后的多个子点云进行量化和编码,得到编码码流;The first encoding module is configured to respectively quantize and encode the transformed sub-point clouds to obtain encoded code streams;
其中,所述对应点位于所述目标子点云的参考点云中,所述参考点云位于所述当前帧的参考帧中。Wherein, the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
本申请实施例还提供一种解码装置,包括:The embodiment of the present application also provides a decoding device, including:
第二获取模块,配置为获取编码码流;The second obtaining module is configured to obtain the encoded code stream;
第二变换模块,配置为对所述编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果;The second transformation module is configured to perform an inverse Fourier transformation of the encoded code stream based on Euclidean distance weights to obtain a transformation result;
第一解码模块,配置为基于所述变换结果,得到解码码流;The first decoding module is configured to obtain a decoded code stream based on the transformation result;
其中,所述编码码流是编码设备利用广义拉普拉斯矩阵对子点云进行帧间预测与图傅里叶残差变换的结果进行编码得到的。Wherein, the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
本申请实施例还提供一种电子设备,包括:存储器、处理器及存储在存储器上并可在处理器上运行的程序,所述处理器执行所述程序时实现如上所述的编码方法或解码方法中的步骤。The embodiment of the present application also provides an electronic device, including: a memory, a processor, and a program stored in the memory and operable on the processor. When the processor executes the program, the above-mentioned encoding method or decoding steps in the method.
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程序,所述程序被处理器执行时实现如上所述的编码方法或解码方法中的步骤。The embodiment of the present application further provides a readable storage medium, where a program is stored on the readable storage medium, and when the program is executed by a processor, the steps in the encoding method or decoding method as described above are implemented.
在本申请实施例中,将当前帧的待处理的点云数据进行聚类,得到多个子点云,并对任一目标子点云,根据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵,并利用所述广义拉普拉斯矩阵,分别对所述多个子点云进行帧间预测与图傅里叶残差变换,从而基于变换结果得到编码码流。由于广义拉普拉斯矩阵是利用点与点之间的欧式距离生成的,因此,在本申请实施例中可利用全局相关性特征,更加充分的表达出点与点之间的相关性,从而能够尽可能的去除点云数据之间的相似之处, 进而能够提升编码性能。同时,由于编码端的性能得到了提升,相应的,对于解码端来说,由于需要解码的数据得到优化,那么,可相应的提高解码效率和性能。In the embodiment of the present application, the point cloud data to be processed in the current frame is clustered to obtain multiple sub-point clouds, and for any target sub-point cloud, according to the relationship between multiple point pairs in the target sub-point cloud The Euclidean distance, and the Euclidean distance between the target point in the target sub-point cloud and the corresponding point of the target point generates a generalized Laplacian matrix, and using the generalized Laplacian matrix, respectively Inter-frame prediction and image Fourier residual transformation are performed on the plurality of sub-point clouds, so as to obtain an encoded code stream based on the transformation result. Since the generalized Laplacian matrix is generated using the Euclidean distance between points, in the embodiment of the present application, the global correlation feature can be used to more fully express the correlation between points, so that The similarity between point cloud data can be removed as much as possible, and the coding performance can be improved. At the same time, since the performance of the encoding end is improved, correspondingly, for the decoding end, since the data to be decoded is optimized, the decoding efficiency and performance can be improved accordingly.
图1是本申请实施例提供的编码方法的流程图;Fig. 1 is a flow chart of the encoding method provided by the embodiment of the present application;
图2和图3是本申请实施例的方法和现有技术的方法的效果对比示意图;Fig. 2 and Fig. 3 are the schematic diagrams comparing the effect of the method of the embodiment of the present application and the method of the prior art;
图4是本申请实施例提供的解码方法的流程图;Fig. 4 is a flow chart of the decoding method provided by the embodiment of the present application;
图5是本申请实施例提供的编码装置的结构图;FIG. 5 is a structural diagram of an encoding device provided in an embodiment of the present application;
图6是本申请实施例提供的解码装置的结构图。FIG. 6 is a structural diagram of a decoding device provided by an embodiment of the present application.
本申请实施例中术语“和/或”,描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。The term "and/or" in the embodiments of this application describes the association relationship of associated objects, indicating that there may be three relationships, for example, A and/or B, which may mean: A exists alone, A and B exist simultaneously, and B exists alone These three situations. The character "/" generally indicates that the contextual objects are an "or" relationship.
本申请实施例中术语“多个”是指两个或两个以上,其它量词与之类似。The term "plurality" in the embodiments of the present application refers to two or more, and other quantifiers are similar.
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、完整地描述,显然,所描述的实施例仅仅是本申请一部分实施例,并不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
参见图1,图1是本申请实施例提供的编码方法的流程图,应用于编码设备。如图1所示,包括以下步骤:Referring to FIG. 1 , FIG. 1 is a flowchart of an encoding method provided by an embodiment of the present application, which is applied to an encoding device. As shown in Figure 1, the following steps are included:
步骤101、将当前帧的待处理的点云数据进行聚类,得到多个子点云。 Step 101. Cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds.
在此步骤中,将所述待处理的点云数据进行体元化,得到点云体元,然后,将所述体元化点云数据进行聚类,得到多个子点云。In this step, voxelize the point cloud data to be processed to obtain point cloud voxels, and then cluster the voxelized point cloud data to obtain multiple sub-point clouds.
示例性地,构建预设大小的三维网格,将待处理的点云数据置于构建的三维网格中,得到各点的坐标,并将含有点的三维网格作为点云体元,得到多个点云体元。此外,还可获得各点云体元的坐标和属性信息。其中,所述属性信息包括强度、颜色等。在本申请实施例中,点云体元的坐标,可以为点云体元中各点的中心点的坐标;点云体元的颜色信息,可以为点云体元中各点的颜色信息的平均值。在实际应用中,还可以采用八叉树的方式等对待处理的点云数据进行体元化,得到多个点云体元。Exemplarily, a 3D grid with a preset size is constructed, and the point cloud data to be processed is placed in the constructed 3D grid to obtain the coordinates of each point, and the 3D grid containing the points is used as a point cloud voxel to obtain Multiple point cloud voxels. In addition, the coordinates and attribute information of each point cloud voxel can also be obtained. Wherein, the attribute information includes intensity, color and so on. In the embodiment of the present application, the coordinates of the point cloud voxel can be the coordinates of the center point of each point in the point cloud voxel; the color information of the point cloud voxel can be the color information of each point in the point cloud voxel average value. In practical applications, the point cloud data to be processed can also be voxelized by means of an octree to obtain multiple point cloud voxels.
其中,利用空间均匀划分方法,对于点云数据进行聚类。聚类方法例如可采用利用K-means聚类方法。Among them, the method of uniform space division is used to cluster the point cloud data. As a clustering method, for example, a K-means clustering method can be used.
在本申请实施例中,基于位置信息将待处理的点云数据划分为多个子点云,空间均匀划分。每一个子点云可独立编码。In the embodiment of the present application, the point cloud data to be processed is divided into multiple sub-point clouds based on the location information, and the space is evenly divided. Each sub-point cloud can be encoded independently.
步骤102、对于所述多个子点云中的任一目标子点云,根据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵。 Step 102, for any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and the target point in the target sub-point cloud and The Euclidean distance between corresponding points of the target point generates a generalized Laplacian matrix.
其中,所述对应点位于所述目标子点云的参考点云中,所述参考点云位于所述当前帧的参考帧中。Wherein, the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
其中,多个子点云中的任一子点云都可作为目标子点云。在实际应用中,对每个目标子点云的处理方式相同。Wherein, any sub-point cloud in the plurality of sub-point clouds can be used as the target sub-point cloud. In practice, each target sub-point cloud is treated in the same way.
示例性地,在此步骤中,可包括如下内容:Exemplarily, in this step, the following contents may be included:
S1021、根据所述目标子点云中多个点对之间的欧式距离,得到权重矩阵。S1021. Obtain a weight matrix according to the Euclidean distances between multiple point pairs in the target sub-point cloud.
其中,目标子点云中可包括多个点,每两个点构成本实施例中的一个点对。在本申请实施例中,计算每个点对中两个点之间的欧式距离。例如,对于所述目标子点云中的第i个点和第j个点,计算得到第i个点和第j个点之间的欧式距离。示例性地,对于点i(x
1,x
2……x
n)和点j(y
1,y
2……y
n)之间的欧式距离d(i,j),在实际应用中可按照以下公式(1)计算:
Wherein, the target sub-point cloud may include multiple points, and every two points constitute a point pair in this embodiment. In the embodiment of the present application, the Euclidean distance between two points in each point pair is calculated. For example, for the i-th point and the j-th point in the target sub-point cloud, the Euclidean distance between the i-th point and the j-th point is calculated. Exemplarily, for the Euclidean distance d(i,j) between point i(x 1 , x 2 ... x n ) and point j (y 1 , y 2 ... y n ), in practice, it can be The following formula (1) is calculated:
其中,1≤i≤M,1≤j≤M,i,j,M为整数,M为所述目标子点云中包括的点的总数。Wherein, 1≤i≤M, 1≤j≤M, i, j, M are integers, and M is the total number of points included in the target sub-point cloud.
示例性地,按照以下公式(2)计算权重,并利用所述权重形成所述权重矩阵W:Exemplarily, the weights are calculated according to the following formula (2), and the weights are used to form the weight matrix W:
其中,W
ij表示目标子点云中的第i个点到第j个点的边所对应的权重;distance表示第i个点到第j个点之间的欧式距离;σ为不等于0的常数,表示调节参数。
Among them, W ij represents the weight corresponding to the edge from the i-th point to the j-th point in the target sub-point cloud; distance represents the Euclidean distance between the i-th point and the j-th point; σ is not equal to 0 Constant, representing the tuning parameter.
S1022、根据度矩阵和所述权重矩阵,得到拉普拉斯矩阵。S1022. Obtain a Laplacian matrix according to the degree matrix and the weight matrix.
在此步骤中,利用度矩阵和所述权重矩阵的差,作为拉普拉斯矩阵。In this step, the difference between the degree matrix and the weight matrix is used as a Laplacian matrix.
示例性地:L=D-W,表示拉普拉斯矩阵,D表示度矩阵,W表示权重矩阵。Exemplarily: L=D-W, represents a Laplacian matrix, D represents a degree matrix, and W represents a weight matrix.
其中,所述度矩阵的对角线元素d
i=Σ
jW
ij,其他元素为0。其中,d
i表示度矩阵的第i个对角线元素,W
ij表示所述目标子点云中的第i个点到第j个点的边所对应的权重
Wherein, the diagonal element d i =Σ j W ij of the degree matrix, and other elements are 0. Among them, d i represents the i-th diagonal element of the degree matrix, W ij represents the weight corresponding to the edge from the i-th point to the j-th point in the target sub-point cloud
S1023、生成对角矩阵。S1023. Generate a diagonal matrix.
所述对角矩阵是根据所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离生成的。The diagonal matrix is generated according to the Euclidean distance between the target point in the target sub-point cloud and the corresponding point of the target point.
示例性地,可首先在所述参考帧中确定所述目标子点元的参考点云。例如,在参考帧中进行运动估计,找到匹配的参考点云。其中,目标子点云和参考点是一一对应的。例如,利用迭代最近点算法,在所述参考帧中,可基于欧式距离确定所述目标子点元的参考点云。然后,基于目标子点云中的每个点与每个点在所述参考点云中的对应点之间的欧式距离,生成所述对角矩阵D
w。其中,所述对角矩阵的第i个对角线上的值,为第i个点与点p之间的欧式距离的倒数,其他元素为0。其中,点p为第i个点在所述参考点云中的对应点。
Exemplarily, the reference point cloud of the target sub-point element may first be determined in the reference frame. For example, motion estimation is performed in a reference frame and a matching reference point cloud is found. Among them, there is a one-to-one correspondence between the target sub-point cloud and the reference point. For example, using an iterative closest point algorithm, in the reference frame, the reference point cloud of the target sub-point element can be determined based on the Euclidean distance. Then, the diagonal matrix D w is generated based on the Euclidean distance between each point in the target sub-point cloud and the corresponding point of each point in the reference point cloud. Wherein, the value on the i-th diagonal of the diagonal matrix is the reciprocal of the Euclidean distance between the i-th point and point p, and other elements are 0. Wherein, point p is the corresponding point of the i-th point in the reference point cloud.
S1024、根据所述对角矩阵和所述拉普拉斯矩阵,得到所述广义拉普拉斯矩阵。S1024. Obtain the generalized Laplacian matrix according to the diagonal matrix and the Laplacian matrix.
在此步骤中,利用所述对角矩阵和所述拉普拉斯矩阵的和,作为所述广义拉普拉斯矩阵。In this step, the sum of the diagonal matrix and the Laplacian matrix is used as the generalized Laplacian matrix.
示例性地,Lg=L+D
w,其中,Lg表示广义拉普拉斯矩阵,L表示拉普拉斯矩阵,D
w表示对角矩阵。
Exemplarily, Lg=L+D w , where Lg represents a generalized Laplacian matrix, L represents a Laplacian matrix, and D w represents a diagonal matrix.
步骤103、利用所述广义拉普拉斯矩阵,对所述目标子点云进行帧间预测与图傅里叶残差变换。 Step 103, using the generalized Laplacian matrix, perform inter-frame prediction and image Fourier residual transformation on the target sub-point cloud.
在此步骤中,所述帧间预测与图傅里叶残差变换可以理解为是基于欧式距离权重的帧间预测与图傅里叶残差变换,可包括如下内容:In this step, the inter-frame prediction and graph Fourier residual transform can be understood as inter-frame prediction and graph Fourier residual transform based on Euclidean distance weights, which may include the following:
S1031、获取所述参考帧对所述当前帧的目标属性的属性预测值。S1031. Obtain an attribute prediction value of the reference frame for the target attribute of the current frame.
在本申请实施例中,采用帧间预测方法,利用参考帧来预测当前帧的属性值。其中,所述属性可包括颜色,强度,法向量等。那么,所述目标属性可以是任一属性。In the embodiment of the present application, an inter-frame prediction method is used to predict the attribute value of the current frame by using the reference frame. Wherein, the attributes may include color, intensity, normal vector and so on. Then, the target attribute can be any attribute.
示例性地,在此步骤中,按照如下公式(3),得到所述参考帧对所述当前帧的目标属性的属性预测值:Exemplarily, in this step, according to the following formula (3), the attribute prediction value of the reference frame to the target attribute of the current frame is obtained:
其中,
表示参考帧对当前帧的目标属性的属性预测值,x
t-1表示参考帧的目标属性的属性值,Lg表示广义拉普拉斯矩阵。
in, Indicates the attribute prediction value of the reference frame to the target attribute of the current frame, x t-1 indicates the attribute value of the target attribute of the reference frame, and Lg indicates the generalized Laplacian matrix.
S1032、根据所述当前帧的目标属性的属性值、所述参考帧对所述当前帧的目标属性的属性预测值,生成所述当前帧的目标属性的残差。S1032. Generate a residual of the target attribute of the current frame according to the attribute value of the target attribute of the current frame and the attribute prediction value of the target attribute of the current frame by the reference frame.
示例性地,在此,可利用所述当前帧的目标属性的属性值与所述参考帧对所述当前帧的目标属性的属性预测值之差,作为所述残差,如公式(4):Exemplarily, here, the difference between the attribute value of the target attribute of the current frame and the attribute prediction value of the target attribute of the current frame by the reference frame can be used as the residual, as shown in formula (4) :
其中,δ表示所述当前帧的目标属性的残差,
表示参考帧对当前帧的目标属性的属性预测值,x
t表示当前帧的目标属性的属性值。
where δ represents the residual of the target attribute of the current frame, Indicates the attribute prediction value of the target attribute of the reference frame to the current frame, x t represents the attribute value of the target attribute of the current frame.
通过帧间预测方法获得残差,从而能够尽可能多的获得两帧之间的差异。由于两帧之间相同的部分无需额外处理,从而通过计算残差的方式, 可节省码率。The residual is obtained through an inter-frame prediction method, so as to obtain as much difference between two frames as possible. Since the same part between two frames does not require additional processing, the bit rate can be saved by calculating the residual.
S1033、基于所述广义拉普拉斯矩阵对所述当前帧的目标属性的残差进行变换。S1033. Transform the residual of the target attribute of the current frame based on the generalized Laplacian matrix.
在此步骤中,利用所述广义拉普拉斯矩阵得到变换矩阵,之后,利用所述变换矩阵对所述当前帧的目标属性的残差进行变换。In this step, a transformation matrix is obtained by using the generalized Laplacian matrix, and then the residual of the target attribute of the current frame is transformed by using the transformation matrix.
示例性地,对以下公式(5)求解,得到变换矩阵:Exemplarily, the following formula (5) is solved to obtain the transformation matrix:
其中,Lg表示广义拉普拉斯矩阵,
表示变换矩阵。
Among them, Lg represents the generalized Laplacian matrix, Represents the transformation matrix.
利用以下公式(6),得到所述变换结果:Utilize following formula (6), obtain described transformation result:
其中,θ表示变换结果,
示变换矩阵,δ表示所述当前帧的目标属性的残差。
Among them, θ represents the transformation result, represents the transformation matrix, and δ represents the residual of the target attribute of the current frame.
在本申请实施例中,在传统的图傅里叶变换的基础上,引入广义图傅里叶变换的概念,对于点云数据的帧间属性进行预测与残差变换,从而能够去除数据间的冗余,提高编码效率。In the embodiment of this application, on the basis of the traditional graph Fourier transform, the concept of generalized graph Fourier transform is introduced, and the inter-frame attributes of point cloud data are predicted and residual transformed, so that the gap between data can be removed. Redundancy improves coding efficiency.
其中,对其他子点云的处理方式和对目标子点云的处理方式相同。Among them, the processing method for other sub-point clouds is the same as that for the target sub-point cloud.
步骤104、分别对变换后的多个子点云进行量化和编码,得到编码码流。Step 104: Quantize and code the transformed sub-point clouds respectively to obtain coded code streams.
在此步骤中,对变换后的多个子点云进行均匀量化和算数编码,得到编码码流。In this step, uniform quantization and arithmetic coding are performed on the transformed sub-point clouds to obtain coded streams.
以目标属性为颜色为例,在此,可将颜色分解为三个3×1的向量(例如:色彩空间模型(Luminance Chrominance-Blue Chrominance-Red,YUV)或(Red Green Blue,RGB))。以Y分量为例,按照S1031中的过程对当前帧的属性值进行预测,并按照S1032生成残差。之后,利用S1033对残差进行变换。变换后的Y分量进行均匀量化和算数编码,得到码流。对于每个分量,都可按照Y分量相同的处理方式进行处理。Taking the target attribute as color as an example, here, the color can be decomposed into three 3×1 vectors (for example: color space model (Luminance Chrominance-Blue Chrominance-Red, YUV) or (Red Green Blue, RGB)). Taking the Y component as an example, predict the attribute value of the current frame according to the process in S1031, and generate a residual according to S1032. After that, transform the residual by using S1033. The transformed Y component is uniformly quantized and arithmetically encoded to obtain a code stream. For each component, it can be processed in the same way as the Y component.
在本申请实施例中,由于广义拉普拉斯矩阵是利用点与点之间的欧式距离生成的,因此,在本申请实施例中可利用全局相关性特征,更加充分的表达出点与点之间的相关性,从而能够尽可能的去除点云数据之间的相似之处,进而能够提升编码性能。In the embodiment of the present application, since the generalized Laplacian matrix is generated by using the Euclidean distance between points, in the embodiment of the present application, the global correlation feature can be used to more fully express the point-to-point The correlation between them, so that the similarities between point cloud data can be removed as much as possible, and the coding performance can be improved.
在实际应用中,在实际点云序列上进行了测试。在测试中,首先针对16帧动态点云进行了测试,图2中显示了本申请实施例的方法与区域自适应层级变换(Region Adaptive Hierarchical Transform,RAHT),主方向权重图傅里叶变换(Main direction Weight Chart Fourier Transform,NWCFT)方法性能的对比。其中,如图2所示,给出了9个不同点云数据,即基准数据集1至9,分别基于方法一(RAHT)、方法二(NWCFT)以及方法三(本申请实施例提供的编码方法)中,确定的速率失真性能的比较,这里,基准数据集1至9可以分别是点云数据:Longdress、Loot、Redandblack、Soldier、Andrew、David、Phil、Ricardo以及Sarah。为了量化增益,在实验中,又 做了和RAHT方法的数据对比,如图3所示。In practice, tests are performed on real point cloud sequences. In the test, a test was first performed on 16 frames of dynamic point clouds. Figure 2 shows the method and region adaptive hierarchical transformation (Region Adaptive Hierarchical Transform, RAHT) of the embodiment of the present application, and the main direction weight map Fourier transform ( Main direction Weight Chart Fourier Transform, NWCFT) method performance comparison. Among them, as shown in Figure 2, 9 different point cloud data are given, that is, benchmark data sets 1 to 9, based on method 1 (RAHT), method 2 (NWCFT) and method 3 (the coding provided by the embodiment of this application) respectively. Method), the comparison of the determined rate-distortion performance, here, the benchmark data sets 1 to 9 can be point cloud data respectively: Longdress, Loot, Redandblack, Soldier, Andrew, David, Phil, Ricardo and Sarah. In order to quantify the gain, in the experiment, the data comparison with the RAHT method was done, as shown in Figure 3.
从图2和图3中可以看出,本申请实施例中,在传统的图傅里叶变换的基础上,引入广义图傅里叶变换的概念,对于点云帧间属性进行预测与残差变换,从而可进一步去除数据间的冗余,提高编码效率。实验结果表明,本申请实施例的方法能够提高主客观性能,可以地应用在实际点云的压缩、传输、存储系统中。It can be seen from Figure 2 and Figure 3 that in the embodiment of the present application, on the basis of the traditional graph Fourier transform, the concept of generalized graph Fourier transform is introduced to predict and residual the inter-frame attributes of the point cloud Transform, so that the redundancy between data can be further removed, and the coding efficiency can be improved. Experimental results show that the method of the embodiment of the present application can improve the subjective and objective performance, and can be effectively applied to the actual point cloud compression, transmission, and storage systems.
参见图4,图4是本申请实施例提供的解码方法的流程图,应用于编码设备。如图4所示,包括以下步骤:Referring to FIG. 4 , FIG. 4 is a flowchart of a decoding method provided by an embodiment of the present application, which is applied to an encoding device. As shown in Figure 4, the following steps are included:
步骤401、获取编码码流。 Step 401. Acquire an encoded code stream.
其中,所述编码码流是编码设备利用广义拉普拉斯矩阵对子点云进行帧间预测与图傅里叶残差变换的结果进行编码得到的。Wherein, the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
步骤402、对所述编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果。Step 402: Perform inverse Fourier transform of the graph based on the Euclidean distance weight on the coded code stream to obtain a transform result.
在解码端,对编码码流进行熵解码后,对所述编码码流进行反量化。之后,对反量化后的编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果。At the decoding end, after entropy decoding is performed on the coded code stream, inverse quantization is performed on the coded code stream. Afterwards, the inverse Fourier transform of the graph based on the Euclidean distance weight is performed on the dequantized encoded code stream to obtain the transform result.
示例性地,在此可利用以下公式(7)对反量化后的编码码流进行基于欧式距离权重的图傅里叶反变换:Exemplarily, the following formula (7) can be used to perform inverse Fourier transform of the inverse quantized code stream based on the Euclidean distance weight:
其中,
表示反变换残差值,
表示变换矩阵,
表示当前帧的目标属性的量化残差值,ε表示反量化系数。
in, Indicates the inverse transformation residual value, represents the transformation matrix, Represents the quantized residual value of the target attribute of the current frame, and ε represents the inverse quantization coefficient.
步骤403、基于所述变换结果,得到解码码流。Step 403: Obtain a decoded code stream based on the transformation result.
在本申请实施例中,由于广义拉普拉斯矩阵是利用点与点之间的欧式距离生成的,因此,在本申请实施例中可利用全局相关性特征,更加充分的表达出点与点之间的相关性,从而能够尽可能的去除点云数据之间的相似之处,进而能够提升编码性能。由于编码端的性能得到了提升,相应的,对于解码端来说,由于需要解码的数据得到优化,那么,可相应的提高解码效率和性能。In the embodiment of the present application, since the generalized Laplacian matrix is generated by using the Euclidean distance between points, in the embodiment of the present application, the global correlation feature can be used to more fully express the point-to-point The correlation between them, so that the similarities between point cloud data can be removed as much as possible, and the coding performance can be improved. Since the performance of the encoding end is improved, correspondingly, for the decoding end, since the data to be decoded is optimized, the decoding efficiency and performance can be improved accordingly.
本申请实施例还提供了一种编码装置。参见图5,图5是本申请实施例提供的编码装置的结构图。由于编码装置解决问题的原理与本申请实施例中编码方法相似,因此该编码装置的实施可以参见方法的实施。The embodiment of the present application also provides an encoding device. Referring to FIG. 5 , FIG. 5 is a structural diagram of an encoding device provided by an embodiment of the present application. Since the problem-solving principle of the encoding device is similar to the encoding method in the embodiment of the present application, reference may be made to the implementation of the method for the implementation of the encoding device.
如图5所示,编码装置500包括:As shown in Figure 5, the encoding device 500 includes:
第一获取模块501,配置为将当前帧的待处理的点云数据进行聚类,得到多个子点云;The first acquisition module 501 is configured to cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds;
第一生成模块502,配置为对于所述多个子点云中的任一目标子点云,根据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵;The first generating module 502 is configured to, for any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and the target sub-point cloud The Euclidean distance between the target point in and the corresponding point of the target point generates a generalized Laplacian matrix;
第一变换模块503,配置为利用所述广义拉普拉斯矩阵,对所述目标子点云进行帧间预测与图傅里叶残差变换;The first transformation module 503 is configured to use the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the target sub-point cloud;
第一编码模块504,配置为分别对变换后的多个子点云进行量化和编码,得到编码码流;其中,所述对应点位于所述目标子点云的参考点云中,所述参考点云位于所述当前帧的参考帧中。The first encoding module 504 is configured to respectively quantize and encode the transformed multiple sub-point clouds to obtain an encoded code stream; wherein, the corresponding point is located in the reference point cloud of the target sub-point cloud, and the reference point The cloud is located in the reference frame of the current frame.
在一些实施例中,所述第一获取模块501包括:第一处理子模块,配置为将所述待处理的点云数据进行体元化,得到点云体元;第一获取子模块,配置为将所述体元化点云数据进行聚类,得到多个子点云。In some embodiments, the first acquisition module 501 includes: a first processing submodule configured to voxelize the point cloud data to be processed to obtain point cloud voxels; a first acquisition submodule configured In order to cluster the voxelized point cloud data, multiple sub-point clouds are obtained.
在一些实施例中,所述第一生成模块502包括:第二获取子模块,配置为根据所述目标子点云中多个点对之间的欧式距离,得到权重矩阵;第三获取子模块,配置为根据度矩阵和所述权重矩阵,得到拉普拉斯矩阵;第一生成子模块,配置为生成对角矩阵;第二生成子模块,配置为根据所述对角矩阵和所述拉普拉斯矩阵,得到所述广义拉普拉斯矩阵。In some embodiments, the first generation module 502 includes: a second acquisition submodule configured to obtain a weight matrix according to the Euclidean distance between multiple point pairs in the target sub-point cloud; a third acquisition submodule , configured to obtain a Laplacian matrix according to the degree matrix and the weight matrix; the first generation submodule is configured to generate a diagonal matrix; the second generation submodule is configured to obtain a Laplacian matrix according to the diagonal matrix and the Laplacian Placian matrix to get the generalized Laplacian matrix.
在一些实施例中,所述第三获取子模块,配置为利用所述度矩阵和所述权重矩阵的差,作为拉普拉斯矩阵;所述第二生成子模块,配置为利用所述对角矩阵和所述拉普拉斯矩阵的和,作为所述广义拉普拉斯矩阵;其中,所述度矩阵的对角线元素d
i=Σ
jW
ij,其中,d
i表示度矩阵的第i个对角线元素,W
ij表示所述目标子点云中的第i个点到第j个点的边所对应的权重;1≤i≤M,1≤j≤M,i,j,M为整数,M为所述目标子点云中包括的点的总数;所述对角矩阵是根据所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离生成的。
In some embodiments, the third acquisition submodule is configured to use the difference between the degree matrix and the weight matrix as a Laplacian matrix; the second generation submodule is configured to use the pair The sum of the angle matrix and the Laplacian matrix, as the generalized Laplacian matrix; wherein, the diagonal element d i =Σ j W ij of the degree matrix, wherein, d i represents the degree matrix The i-th diagonal element, W ij represents the weight corresponding to the edge from the i-th point to the j-th point in the target sub-point cloud; 1≤i≤M, 1≤j≤M, i, j , M is an integer, and M is the total number of points included in the target sub-point cloud; the diagonal matrix is based on the Euclidean distance between the target point in the target sub-point cloud and the corresponding point of the target point Generated.
在一些实施例中,所述第二获取子模块包括:第一计算单元,配置为对于所述目标子点云中的第i个点和第j个点,计算得到第i个点和第j个点之间的欧式距离;第一获取单元,配置为按照以下公式计算权重,并利用所述权重形成所述权重矩阵:
其中,W
ij表示目标子点云中的第i个点到第j个点的边所对应的权重;distance表示第i个点到第j个点之间的欧式距离;σ为不等于0的常数,表示调节参数;1≤i≤M,1≤j≤M,i,j,M为整数,M为所述目标子点云中包括的点的总数。
In some embodiments, the second acquisition submodule includes: a first calculation unit configured to calculate the i-th point and the j-th point in the target sub-point cloud to obtain the i-th point and the j-th point The Euclidean distance between points; the first acquisition unit is configured to calculate the weight according to the following formula, and use the weight to form the weight matrix: Among them, W ij represents the weight corresponding to the edge from the i-th point to the j-th point in the target sub-point cloud; distance represents the Euclidean distance between the i-th point and the j-th point; σ is not equal to 0 A constant represents an adjustment parameter; 1≤i≤M, 1≤j≤M, i, j, and M are integers, and M is the total number of points included in the target sub-point cloud.
在一些实施例中,所述第一生成子模块包括:第一确定单元,配置为在所述参考帧中确定所述目标子点元的参考点云;第一生成单元,配置为基于目标子点云中的每个点与所述每个点在所述参考点云中的对应点之间的欧式距离,生成所述对角矩阵;其中,所述对角矩阵的第i个对角线上的值,为第i个点与点p之间的欧式距离的倒数,其中,点p为第i个点在所述参考点云中的对应点。In some embodiments, the first generating submodule includes: a first determining unit configured to determine a reference point cloud of the target sub-point element in the reference frame; a first generating unit configured to The Euclidean distance between each point in the point cloud and the corresponding point of each point in the reference point cloud generates the diagonal matrix; wherein, the i-th diagonal of the diagonal matrix The value on is the reciprocal of the Euclidean distance between the i-th point and point p, where point p is the corresponding point of the i-th point in the reference point cloud.
在一些实施例中,所述第一确定单元,配置为利用迭代最近点算法,在所述参考帧中确定所述目标子点元的参考点云。In some embodiments, the first determination unit is configured to determine the reference point cloud of the target sub-point element in the reference frame by using an iterative closest point algorithm.
在一些实施例中,所述第一变换模块503包括:第四获取子模块,配 置为获取所述参考帧对所述当前帧的目标属性的属性预测值;第三生成子模块,配置为根据所述当前帧的目标属性的属性值、所述参考帧对所述当前帧的目标属性的属性预测值,生成所述当前帧的目标属性的残差;第一变换子模块,配置为基于所述广义拉普拉斯矩阵对所述当前帧的目标属性的残差进行变换。In some embodiments, the first transformation module 503 includes: a fourth acquisition submodule, configured to acquire the attribute prediction value of the reference frame to the target attribute of the current frame; a third generation submodule, configured to The attribute value of the target attribute of the current frame and the attribute prediction value of the target attribute of the current frame by the reference frame generate a residual of the target attribute of the current frame; the first transformation submodule is configured to be based on the The generalized Laplacian matrix transforms the residual of the target attribute of the current frame.
在一些实施例中,所述第四获取子模块,用于按照如下公式,得到所述参考帧对所述当前帧的目标属性的属性预测值:
其中,
表示参考帧对当前帧的目标属性的属性预测值,x
t-1表示参考帧的目标属性的属性值,Lg表示广义拉普拉斯矩阵。
In some embodiments, the fourth obtaining submodule is configured to obtain the attribute prediction value of the reference frame for the target attribute of the current frame according to the following formula: in, Indicates the attribute prediction value of the reference frame to the target attribute of the current frame, x t-1 indicates the attribute value of the target attribute of the reference frame, and Lg indicates the generalized Laplacian matrix.
在一些实施例中,所述第三生成子模块,配置为利用所述当前帧的目标属性的属性值与所述参考帧对所述当前帧的目标属性的属性预测值之差,作为所述残差。In some embodiments, the third generating submodule is configured to use the difference between the attribute value of the target attribute of the current frame and the attribute prediction value of the target attribute of the current frame by the reference frame as the residual.
在一些实施例中,所述第一变换子模块包括:第二获取单元,配置为利用所述广义拉普拉斯矩阵得到变换矩阵;第一变换单元,配置为利用所述变换矩阵对所述当前帧的目标属性的残差进行变换。In some embodiments, the first transformation submodule includes: a second acquisition unit configured to use the generalized Laplacian matrix to obtain a transformation matrix; a first transformation unit configured to use the transformation matrix to transform the The residual of the target attribute of the current frame is transformed.
在一些实施例中,所述第二获取单元,配置为对以下公式求解,得到变换矩阵:
其中,Lg表示广义拉普拉斯矩阵,
表示变换矩阵。
In some embodiments, the second acquisition unit is configured to solve the following formula to obtain the transformation matrix: Among them, Lg represents the generalized Laplacian matrix, Represents the transformation matrix.
在一些实施例中,所述第一变换单元,配置为利用以下公式,得到所述变换结果:
其中,θ表示变换结果,
示变换矩阵,δ表示所述当前帧的目标属性的残差。
In some embodiments, the first transformation unit is configured to use the following formula to obtain the transformation result: Among them, θ represents the transformation result, represents the transformation matrix, and δ represents the residual of the target attribute of the current frame.
本申请实施例提供的编码装置500,可以执行上述编码方法对应的实施例,其实现原理和技术效果类似,本实施例此处不再描述。The encoding device 500 provided in the embodiment of the present application can implement the corresponding embodiment of the above-mentioned encoding method, and its implementation principle and technical effect are similar, so this embodiment will not be described here again.
本申请实施例还提供了一种解码装置。参见图6,图6是本申请实施例提供的解码装置的结构图。由于解码装置解决问题的原理与本申请实施例中解码方法相似,因此该解码装置的实施可以参见方法的实施,重复之处不再赘述。The embodiment of the present application also provides a decoding device. Referring to FIG. 6, FIG. 6 is a structural diagram of a decoding device provided by an embodiment of the present application. Since the principle of the decoding device to solve the problem is similar to the decoding method in the embodiment of the present application, the implementation of the decoding device can refer to the implementation of the method, and the repetition will not be repeated.
如图6所示,解码装置600包括:As shown in Figure 6, the decoding device 600 includes:
第二获取模块601,配置为获取编码码流;The second obtaining module 601 is configured to obtain an encoded code stream;
第二变换模块602,配置为对所述编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果;The second transformation module 602 is configured to perform an inverse Fourier transformation of the encoded code stream based on Euclidean distance weights to obtain a transformation result;
第一解码模块603,配置为基于所述变换结果,得到解码码流;The first decoding module 603 is configured to obtain a decoded code stream based on the transformation result;
其中,所述编码码流是编码设备利用广义拉普拉斯矩阵对子点云进行帧间预测与图傅里叶残差变换的结果进行编码得到的。Wherein, the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
在一些实施例中,所述第二变换模块包括:第二处理子模块,配置为对所述编码码流进行反量化;第二变换子模块,配置为对反量化后的编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果。In some embodiments, the second transformation module includes: a second processing submodule configured to dequantize the coded code stream; a second transformation submodule configured to dequantize the coded code stream based on Inverse Fourier transform of the graph with Euclidean distance weights to obtain the transformation result.
在一些实施例中,所述第一变换子模块,配置为利用以下公式对反量 化后的编码码流进行基于欧式距离权重的图傅里叶反变换:
其中,
表示反变换残差值,
表示变换矩阵,
表示当前帧的目标属性的量化残差值,ε表示反量化系数。
In some embodiments, the first transformation sub-module is configured to use the following formula to perform inverse Fourier transform of the graph based on Euclidean distance weights on the coded code stream after dequantization: in, Indicates the inverse transformation residual value, represents the transformation matrix, Represents the quantized residual value of the target attribute of the current frame, and ε represents the inverse quantization coefficient.
本申请实施例提供的解码装置600,可以执行上述解码方法对应的实施例,其实现原理和技术效果类似,本实施例此处不再描述。The decoding device 600 provided in the embodiment of the present application can execute the corresponding embodiment of the above-mentioned decoding method, and its implementation principle and technical effect are similar, so this embodiment will not be described here again.
需要说明的是,本申请实施例中对单元的划分是示意性的,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式。另外,在本申请各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。It should be noted that the division of units in the embodiment of the present application is schematic, and is only a logical function division, and there may be another division manner in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个处理器可读取存储介质中。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或者该技术方案的全部或部分可以以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中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(Read Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (Read Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other various media that can store program codes.
本申请实施例还提供一种电子设备,包括:存储器、处理器及存储在存储器上并可在处理器上运行的程序,所述处理器执行所述程序时实现如上所述的编码方法或解码方法中的步骤。The embodiment of the present application also provides an electronic device, including: a memory, a processor, and a program stored in the memory and operable on the processor. When the processor executes the program, the above-mentioned encoding method or decoding steps in the method.
本申请实施例还提供一种可读存储介质,可读存储介质上存储有程序,该程序被处理器执行时实现上述编码或解码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,这里不再描述。其中,所述的可读存储介质,可以是处理器能够存取的任何可用介质或数据存储设备,包括但不限于磁性存储器(例如软盘、硬盘、磁带、磁光盘(Magneto Optical disc,MO disc)等)、光学存储器(例如:激光唱片(Compact Disk,CD)、数字通用光盘(Digital Versatile Disc,DVD)、蓝光光盘(Blu-ray Disc,BD)、高清通用光盘(High-Definition Versatile Disc,HVD)等)、以及半导体存储器;例如:ROM、可擦除可编程只读存储器(Erasable Programmable Read Only Memory,EPROM)、带电可擦可编程只读存储器(Electrically Erasable Programmable Read Only Memory,EEPROM)、非易失性存储器(Non Volatile Memory NVM)、固态硬盘(Solid State Disk,SSD)等。The embodiment of the present application also provides a readable storage medium, on which a program is stored, and when the program is executed by a processor, each process of the above encoding or decoding method embodiment can be achieved, and the same technical effect can be achieved. To avoid repetition, it is not described here. Wherein, the readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disk, hard disk, magnetic tape, magneto optical disc (Magneto Optical disc, MO disc) etc.), optical storage (such as: laser disc (Compact Disk, CD), digital versatile disc (Digital Versatile Disc, DVD), Blu-ray Disc (Blu-ray Disc, BD), high-definition universal disc (High-Definition Versatile Disc, HVD ), etc.), and semiconductor memory; for example: ROM, Erasable Programmable Read Only Memory (Erasable Programmable Read Only Memory, EPROM), Electrically Erasable Programmable Read Only Memory (EEPROM), non- Volatile Memory (Non Volatile Memory NVM), Solid State Disk (Solid State Disk, SSD), etc.
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。It should be noted that, in this document, 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.
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。根据这样的理解,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、磁盘、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,或者网络设备等)执行本申请各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that 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. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk, etc.) ) includes several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method described in each embodiment of the present application.
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。The embodiments of the present application have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of this application, without departing from the purpose of this application and the scope of protection of the claims, many forms can also be made, all of which belong to the protection of this application.
本申请公开了一种编码方法、解码方法、装置、设备及可读存储介质,涉及图像处理技术领域,以提高处理性能。该方法包括:将当前帧的待处理的点云数据进行聚类,得到多个子点云;对于所述多个子点云中的任一目标子点云,根据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵;利用所述广义拉普拉斯矩阵,对目标子点云进行帧间预测与图傅里叶残差变换;分别对变换后的多个子点云进行量化和编码,得到编码码流;其中,所述对应点位于所述目标子点云的参考点云中,所述参考点云位于所述当前帧的参考帧中。The application discloses an encoding method, a decoding method, a device, a device, and a readable storage medium, and relates to the technical field of image processing, so as to improve processing performance. The method includes: clustering the point cloud data to be processed in the current frame to obtain multiple sub-point clouds; for any target sub-point cloud in the multiple sub-point clouds, according to multiple The Euclidean distance between point pairs, and the Euclidean distance between the target point in the target sub-point cloud and the corresponding point of the target point generates a generalized Laplacian matrix; using the generalized Laplacian Matrix, performing inter-frame prediction and image Fourier residual transformation on the target sub-point cloud; respectively quantizing and encoding the transformed sub-point clouds to obtain the encoded code stream; wherein, the corresponding point is located in the target sub-point cloud In the reference point cloud of the point cloud, the reference point cloud is located in the reference frame of the current frame.
Claims (20)
- 一种编码方法,应用于编码设备,包括:An encoding method applied to an encoding device, comprising:将当前帧的待处理的点云数据进行聚类,得到多个子点云;Cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds;对于所述多个子点云中的任一目标子点云,根据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵;For any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and the target point in the target sub-point cloud and the target The Euclidean distance between the corresponding points of the point generates a generalized Laplacian matrix;利用所述广义拉普拉斯矩阵,对所述目标子点云进行帧间预测与图傅里叶残差变换;Using the generalized Laplacian matrix, performing inter-frame prediction and image Fourier residual transformation on the target sub-point cloud;分别对变换后的多个子点云进行量化和编码,得到编码码流;Quantize and encode the transformed multiple sub-point clouds respectively to obtain the encoded code stream;其中,所述对应点位于所述目标子点云的参考点云中,所述参考点云位于所述当前帧的参考帧中。Wherein, the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
- 根据权利要求1所述的方法,其中,所述将当前帧的待处理的点云数据进行聚类,得到多个子点云,包括:The method according to claim 1, wherein said clustering the point cloud data to be processed of the current frame to obtain a plurality of sub-point clouds comprises:将所述待处理的点云数据进行体元化,得到点云体元;Voxelize the point cloud data to be processed to obtain point cloud voxels;将所述体元化点云数据进行聚类,得到所述多个子点云。Clustering the voxelized point cloud data to obtain the multiple sub-point clouds.
- 根据权利要求1所述的方法,其中,所述根据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵,包括:The method according to claim 1, wherein, according to the Euclidean distance between a plurality of point pairs in the target sub-point cloud, and the correspondence between the target point in the target sub-point cloud and the target point Euclidean distance between points, generating a generalized Laplacian matrix including:根据所述目标子点云中多个点对之间的欧式距离,得到权重矩阵;According to the Euclidean distance between multiple point pairs in the target sub-point cloud, a weight matrix is obtained;根据度矩阵和所述权重矩阵,得到拉普拉斯矩阵;According to the degree matrix and the weight matrix, a Laplacian matrix is obtained;生成对角矩阵;generate a diagonal matrix;根据所述对角矩阵和所述拉普拉斯矩阵,得到所述广义拉普拉斯矩阵。According to the diagonal matrix and the Laplacian matrix, the generalized Laplacian matrix is obtained.
- 根据权利要求3所述的方法,其中,所述根据度矩阵和所述权重矩阵,得到拉普拉斯矩阵,包括:The method according to claim 3, wherein said obtaining a Laplacian matrix according to the degree matrix and said weight matrix comprises:利用所述度矩阵和所述权重矩阵的差,作为所述拉普拉斯矩阵;using the difference between the degree matrix and the weight matrix as the Laplacian matrix;所述根据所述对角矩阵和所述拉普拉斯矩阵,得到所述广义拉普拉斯矩阵,包括:According to the diagonal matrix and the Laplacian matrix, the generalized Laplacian matrix is obtained, including:利用所述对角矩阵和所述拉普拉斯矩阵的和,作为所述广义拉普拉斯矩阵;Using the sum of the diagonal matrix and the Laplacian matrix as the generalized Laplacian matrix;其中,所述度矩阵的对角线元素d i=∑ jW ij,其中,d i表示度矩阵的第i个对角线元素,W ij表示所述目标子点云中的第i个点到第j个点的边所对应的权重;1≤i≤M,1≤j≤M,i,j,M为整数,M为所述目标子点云中包括的点的总数; Wherein, the diagonal elements of the degree matrix d i =∑ j W ij , where d i represents the i-th diagonal element of the degree matrix, and W ij represents the i-th point in the target sub-point cloud The weight corresponding to the edge to the jth point; 1≤i≤M, 1≤j≤M, i, j, M are integers, and M is the total number of points included in the target sub-point cloud;所述对角矩阵是根据所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离生成的。The diagonal matrix is generated according to the Euclidean distance between the target point in the target sub-point cloud and the corresponding point of the target point.
- 根据权利要求3所述的方法,其中,所述根据所述目标子点云中多 个点对之间的欧式距离,得到权重矩阵,包括:The method according to claim 3, wherein, according to the Euclidean distance between a plurality of point pairs in the target sub-point cloud, obtain a weight matrix, comprising:对于所述目标子点云中的第i个点和第j个点,计算得到所述第i个点和所述第j个点之间的欧式距离;For the i-th point and the j-th point in the target sub-point cloud, calculate the euclidean distance between the i-th point and the j-th point;按照以下公式计算权重,并利用所述权重形成所述权重矩阵:Calculate the weight according to the following formula, and use the weight to form the weight matrix:其中,W ij表示目标子点云中的第i个点到第j个点的边所对应的权重;distance表示第i个点到第j个点之间的欧式距离;σ为不等于0的常数,表示调节参数;1≤i≤M,1≤j≤M,i,j,M为整数,M为所述目标子点云中包括的点的总数。 Among them, W ij represents the weight corresponding to the edge from the i-th point to the j-th point in the target sub-point cloud; distance represents the Euclidean distance between the i-th point and the j-th point; σ is not equal to 0 A constant represents an adjustment parameter; 1≤i≤M, 1≤j≤M, i, j, and M are integers, and M is the total number of points included in the target sub-point cloud.
- 根据权利要求3所述的方法,其中,所述生成对角矩阵,包括:The method according to claim 3, wherein said generating a diagonal matrix comprises:在所述参考帧中确定所述目标子点元的参考点云;determining a reference point cloud of the target sub-point element in the reference frame;基于目标子点云中的每个点与所述每个点在所述参考点云中的对应点之间的欧式距离,生成所述对角矩阵;Generate the diagonal matrix based on the Euclidean distance between each point in the target sub-point cloud and the corresponding point of each point in the reference point cloud;其中,所述对角矩阵的第i个对角线上的值,为第i个点与点p之间的欧式距离的倒数,其中,点p为第i个点在所述参考点云中的对应点。Wherein, the value on the i-th diagonal of the diagonal matrix is the reciprocal of the Euclidean distance between the i-th point and point p, where point p is the i-th point in the reference point cloud corresponding point.
- 根据权利要求6所述的方法,其中,所述在所述参考帧中确定所述目标子点元的参考点云,包括:The method according to claim 6, wherein said determining the reference point cloud of the target sub-point element in the reference frame comprises:利用迭代最近点算法,在所述参考帧中确定所述目标子点元的参考点云。The reference point cloud of the target sub-point element is determined in the reference frame by using an iterative closest point algorithm.
- 根据权利要求1所述的方法,其中,所述利用所述广义拉普拉斯矩阵,对所述目标子点云进行帧间预测与图傅里叶残差变换,包括:The method according to claim 1, wherein said utilizing said generalized Laplacian matrix to perform inter-frame prediction and map Fourier residual transformation on said target sub-point cloud, comprising:获取所述参考帧对所述当前帧的目标属性的属性预测值;Obtaining an attribute prediction value of the reference frame to the target attribute of the current frame;根据所述当前帧的目标属性的属性值、所述参考帧对所述当前帧的目标属性的属性预测值,生成所述当前帧的目标属性的残差;generating a residual of the target attribute of the current frame according to the attribute value of the target attribute of the current frame and the predicted value of the target attribute of the reference frame to the target attribute of the current frame;基于所述广义拉普拉斯矩阵对所述当前帧的目标属性的残差进行变换。Transforming the residual of the target attribute of the current frame based on the generalized Laplacian matrix.
- 根据权利要求8所述的方法,其中,所述获取所述参考帧对所述当前帧的目标属性的属性预测值,包括:The method according to claim 8, wherein said obtaining the attribute prediction value of the reference frame to the target attribute of the current frame comprises:按照如下公式,得到所述参考帧对所述当前帧的目标属性的属性预测值:According to the following formula, the attribute prediction value of the target attribute of the reference frame to the current frame is obtained:其中, 表示参考帧对当前帧的目标属性的属性预测值,x t-1表示参考帧的目标属性的属性值,Lg表示广义拉普拉斯矩阵。 in, Indicates the attribute prediction value of the reference frame to the target attribute of the current frame, x t-1 indicates the attribute value of the target attribute of the reference frame, and Lg indicates the generalized Laplacian matrix.
- 根据权利要求8所述的方法,其中,所述根据所述当前帧的目标属性的属性值、所述参考帧对所述当前帧的目标属性的属性预测值,生成所述当前帧的目标属性的残差,包括:The method according to claim 8, wherein the target attribute of the current frame is generated according to the attribute value of the target attribute of the current frame and the attribute prediction value of the reference frame to the target attribute of the current frame residuals, including:利用所述当前帧的目标属性的属性值与所述参考帧对所述当前帧的目标属性的属性预测值之差,作为所述残差。The difference between the attribute value of the target attribute of the current frame and the attribute prediction value of the target attribute of the current frame by the reference frame is used as the residual.
- 根据权利要求8所述的方法,其中,所述基于所述广义拉普拉斯矩阵对所述当前帧的目标属性的残差进行变换,包括:The method according to claim 8, wherein said transforming the residual of the target attribute of the current frame based on the generalized Laplacian matrix comprises:利用所述广义拉普拉斯矩阵得到变换矩阵;Using the generalized Laplacian matrix to obtain a transformation matrix;利用所述变换矩阵对所述当前帧的目标属性的残差进行变换。The residual of the target attribute of the current frame is transformed by using the transformation matrix.
- 根据权利要求11所述的方法,其中,所述利用所述广义拉普拉斯矩阵得到变换矩阵,包括:The method according to claim 11, wherein said utilizing said generalized Laplacian matrix to obtain a transformation matrix comprises:对以下公式求解,得到变换矩阵:Solve the following formula to obtain the transformation matrix:
- 根据权利要求11所述的方法,其中,所述利用所述变换矩阵对所述当前帧的目标属性的残差进行变换,包括:The method according to claim 11, wherein said transforming the residual of the target attribute of the current frame using the transformation matrix comprises:利用以下公式,得到所述变换结果:Utilize following formula, obtain described transformation result:
- 一种解码方法,应用于解码设备,所述方法包括:A decoding method applied to a decoding device, the method comprising:获取编码码流;Get the code stream;对所述编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果;Performing an inverse Fourier transform of the graph based on the Euclidean distance weight on the coded code stream to obtain a transform result;基于所述变换结果,得到解码码流;Obtaining a decoded code stream based on the transformation result;其中,所述编码码流是编码设备利用广义拉普拉斯矩阵对子点云进行帧间预测与图傅里叶残差变换的结果进行编码得到的。Wherein, the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
- 根据权利要求14所述的方法,其中,所述对所述编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果,包括:The method according to claim 14, wherein said performing an inverse Fourier transform on the encoded code stream based on Euclidean distance weights to obtain a transform result includes:对所述编码码流进行反量化;Dequantizing the coded code stream;对反量化后的编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果。The inverse Fourier transform of the graph based on the Euclidean distance weight is performed on the coded code stream after inverse quantization to obtain the transform result.
- 根据权利要求15所述的方法,其中,所述对反量化后的编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果,包括:The method according to claim 15, wherein said performing inverse Fourier transform on the dequantized encoded code stream based on Euclidean distance weights to obtain a transform result, comprising:利用以下公式对反量化后的编码码流进行基于欧式距离权重的图傅里叶反变换:Use the following formula to perform the inverse Fourier transform of the graph based on the Euclidean distance weight on the coded stream after dequantization:
- 一种编码装置,包括:An encoding device comprising:第一获取模块,配置为将当前帧的待处理的点云数据进行聚类,得到多个子点云;The first acquisition module is configured to cluster the point cloud data to be processed in the current frame to obtain multiple sub-point clouds;第一生成模块,配置为对于所述多个子点云中的任一目标子点云,根 据所述目标子点云中多个点对之间的欧式距离,以及,所述目标子点云中的目标点与所述目标点的对应点之间的欧式距离,生成广义拉普拉斯矩阵;The first generation module is configured to, for any target sub-point cloud in the plurality of sub-point clouds, according to the Euclidean distance between multiple point pairs in the target sub-point cloud, and, in the target sub-point cloud The Euclidean distance between the target point and the corresponding point of the target point generates a generalized Laplacian matrix;第一变换模块,配置为利用所述广义拉普拉斯矩阵,对所述目标子点云进行帧间预测与图傅里叶残差变换;The first transformation module is configured to use the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the target sub-point cloud;第一编码模块,配置为分别对变换后的多个子点云进行量化和编码,得到编码码流;The first encoding module is configured to respectively quantize and encode the transformed sub-point clouds to obtain encoded code streams;其中,所述对应点位于所述目标子点云的参考点云中,所述参考点云位于所述当前帧的参考帧中。Wherein, the corresponding point is located in a reference point cloud of the target sub-point cloud, and the reference point cloud is located in a reference frame of the current frame.
- 一种解码装置,包括:A decoding device, comprising:第二获取模块,配置为获取编码码流;The second obtaining module is configured to obtain the encoded code stream;第二变换模块,配置为对所述编码码流进行基于欧式距离权重的图傅里叶反变换,得到变换结果;The second transformation module is configured to perform an inverse Fourier transformation of the encoded code stream based on Euclidean distance weights to obtain a transformation result;第一解码模块,配置为基于所述变换结果,得到解码码流;The first decoding module is configured to obtain a decoded code stream based on the transformation result;其中,所述编码码流是编码设备利用广义拉普拉斯矩阵对子点云进行帧间预测与图傅里叶残差变换的结果进行编码得到的。Wherein, the coded code stream is obtained by the coding device using the generalized Laplacian matrix to perform inter-frame prediction and image Fourier residual transformation on the sub-point cloud.
- 一种电子设备,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;An electronic device, comprising: a memory, a processor, and a program stored in the memory and operable on the processor;所述处理器,用于读取存储器中的程序实现如权利要求1至13中任一项所述的编码方法中的步骤;或者实现如权利要求14至16中任一项所述的解码方法中的步骤。The processor is used to read the program in the memory to implement the steps in the encoding method according to any one of claims 1 to 13; or to implement the decoding method according to any one of claims 14 to 16 in the steps.
- 一种可读存储介质,用于存储程序,所述程序被处理器执行时实现如权利要求1至13中任一项所述的编码方法中的步骤;或者实现如权利要求14至16中任一项所述的解码方法中的步骤。A readable storage medium for storing a program, and when the program is executed by a processor, implements the steps in the encoding method according to any one of claims 1 to 13; or implements the steps in any one of claims 14 to 16 A step in the described decoding method.
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