WO2024099154A1 - 触觉信号编码方法、触觉信号解码方法、装置及设备 - Google Patents

触觉信号编码方法、触觉信号解码方法、装置及设备 Download PDF

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Publication number
WO2024099154A1
WO2024099154A1 PCT/CN2023/128016 CN2023128016W WO2024099154A1 WO 2024099154 A1 WO2024099154 A1 WO 2024099154A1 CN 2023128016 W CN2023128016 W CN 2023128016W WO 2024099154 A1 WO2024099154 A1 WO 2024099154A1
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signal
frequency signal
code stream
key frame
frequency
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English (en)
French (fr)
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吕卓逸
蔺虎虎
何大众
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Vivo Mobile Communication Co Ltd
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Vivo Mobile Communication Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • H04N19/184—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being bits, e.g. of the compressed video stream
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/60—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using transform coding
    • H04N19/63—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using transform coding using sub-band based transform, e.g. wavelets

Definitions

  • the present application belongs to the field of coding and decoding technology, and specifically relates to a tactile signal encoding method, a tactile signal decoding method, a device and an apparatus.
  • Tactile information is mainly divided into two categories: tactile information based on muscle movement perception, also known as kinesthetic information; and tactile information based on skin texture perception, also known as texture information.
  • tactile signals are generated based on tactile information, and the hardware device transmits the tactile signals to the user, so that the user feels vibration or pulse, thereby increasing the user's tactile perception.
  • tactile signal compression can be achieved through tactile signal encoding.
  • the target object is divided into multiple blocks, and the single-point tactile signal in each block is encoded one by one to achieve tactile signal encoding, which results in low encoding efficiency of tactile signal encoding.
  • the embodiments of the present application provide a tactile signal encoding method, a tactile signal decoding method, an apparatus and a device, which can solve the problem of low encoding efficiency of tactile signal encoding.
  • a tactile signal encoding method comprising:
  • the encoder obtains N main tactile signals corresponding to the block group of the target object and a secondary tactile signal associated with each main tactile signal; the N main tactile signals and the secondary tactile signal associated with each main tactile signal are determined based on a plurality of tactile signals corresponding to the block group, where N is a positive integer greater than or equal to 1;
  • the encoding end processes the N main tactile signals and the secondary tactile signals associated with each main tactile signal.
  • the first tactile signal is subjected to frequency band decomposition to obtain a first frequency signal and a second frequency signal corresponding to each main tactile signal, and a third frequency signal and a fourth frequency signal corresponding to each secondary tactile signal; the frequency of the first frequency signal is greater than a first threshold, the frequency of the second frequency signal is less than or equal to the first threshold, the frequency of the third frequency signal is greater than the second threshold, and the frequency of the fourth frequency signal is less than or equal to the second threshold;
  • the encoding end encodes the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal to generate a target code stream.
  • a tactile signal decoding method comprising:
  • the decoding end obtains the target bitstream
  • the decoding end determines, based on the target bitstream, a first frequency signal, a second frequency signal, a third frequency signal, and a fourth frequency signal; the frequency of the first frequency signal is greater than a first threshold, the frequency of the second frequency signal is less than or equal to the first threshold, the frequency of the third frequency signal is greater than a second threshold, and the frequency of the fourth frequency signal is less than or equal to the second threshold;
  • the decoding end determines a main tactile signal based on the first frequency signal and the second frequency signal, and determines a secondary tactile signal associated with the main tactile signal based on the third frequency signal and the fourth frequency signal.
  • a tactile signal encoding device which is applied to an encoding end, and the device includes:
  • an acquisition module configured to acquire N main tactile signals corresponding to a block group of a target object and a secondary tactile signal associated with each main tactile signal; the N main tactile signals and the secondary tactile signal associated with each main tactile signal are determined based on a plurality of tactile signals corresponding to the block group, where N is a positive integer greater than or equal to 1;
  • a processing module configured to perform frequency band decomposition on the N main tactile signals and the secondary tactile signals associated with each main tactile signal, to obtain a first frequency signal and a second frequency signal corresponding to each main tactile signal, and a third frequency signal and a fourth frequency signal corresponding to each secondary tactile signal; the frequency of the first frequency signal is greater than a first threshold, the frequency of the second frequency signal is less than or equal to the first threshold, the frequency of the third frequency signal is greater than a second threshold, and the frequency of the fourth frequency signal is less than or equal to the second threshold;
  • an encoding module configured to encode the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal to generate a target code stream.
  • a tactile signal decoding device which is applied to a decoding end, and the device includes:
  • An acquisition module is used to acquire a target bitstream
  • a first determination module is used to determine a first frequency signal, a second frequency signal, a third frequency signal and a fourth frequency signal based on the target code stream; the frequency of the first frequency signal is greater than a first threshold, the frequency of the second frequency signal is less than or equal to the first threshold, the frequency of the third frequency signal is greater than a second threshold, and the frequency of the fourth frequency signal is less than or equal to the second threshold;
  • the second determination module is configured to determine a primary tactile signal based on the first frequency signal and the second frequency signal, and to determine a secondary tactile signal associated with the primary tactile signal based on the third frequency signal and the fourth frequency signal.
  • a terminal which includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented.
  • a readable storage medium on which a program or instruction is stored.
  • the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented.
  • a chip comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the method described in the first aspect, or to implement the method described in the second aspect.
  • a computer program/program product is provided, wherein the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect.
  • a system comprising an encoding end and a decoding end, wherein the encoding end performs the steps of the method described in the first aspect, and the decoding end performs the steps of the method described in the second aspect.
  • N main tactile signals corresponding to the block group of the target object and the secondary tactile signals associated with each main tactile signal are obtained; the N main tactile signals and the secondary tactile signals associated with each main tactile signal are obtained.
  • the frequency band of the secondary tactile signals connected is decomposed to obtain the first frequency signal and the second frequency signal corresponding to each main tactile signal, and the third frequency signal and the fourth frequency signal corresponding to each secondary tactile signal; the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal are encoded to generate a target code stream.
  • the first frequency signal and the second frequency signal corresponding to the main tactile signal, and the third frequency signal and the fourth frequency signal corresponding to the secondary tactile signal are encoded to generate a target code stream, thereby realizing tactile signal encoding by encoding multi-point tactile signals, rather than encoding each single-point tactile signal one by one to realize tactile signal encoding, thereby improving the encoding efficiency of tactile signal encoding.
  • FIG1 is a schematic diagram of a flow chart of a tactile signal encoding method provided in an embodiment of the present application
  • FIG2 is a schematic diagram of a flow chart of a tactile signal decoding method provided in an embodiment of the present application.
  • FIG3 is a structural diagram of a tactile signal encoding device provided in an embodiment of the present application.
  • FIG4 is a structural diagram of a tactile signal decoding device provided in an embodiment of the present application.
  • FIG5 is a structural diagram of a communication device provided in an embodiment of the present application.
  • FIG6 is a schematic diagram of the hardware structure of the terminal provided in an embodiment of the present application.
  • first, second, etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by “first” and “second” are generally of the same type, and the number of objects is not limited.
  • the first object can be one or more.
  • “and/or” in the specification and claims represents at least one of the connected objects, and the character “/" generally represents that the objects associated with each other are in an "or” relationship.
  • the target object includes multiple blocks.
  • the target object can be a person.
  • the human body is divided into multiple blocks, and each block is labeled.
  • a serial number may be used to represent each block, and the serial number is a 5-bit binary number corresponding to the label minus 1.
  • label 1 represents the front of the head, and the serial number corresponding to the front of the head is 00000
  • label 12 represents the left upper arm, and the serial number corresponding to the left upper arm is 01011
  • label 32 represents the left toe, and the serial number corresponding to the left toe is 11111.
  • At least one block may be divided into a block group. It should be understood that each block includes multiple spatial positions, and each spatial position corresponds to a tactile signal, also known as a single-point tactile signal.
  • FIG1 is a flow chart of a tactile signal encoding method provided in an embodiment of the present application.
  • the tactile signal encoding method provided in this embodiment comprises the following steps:
  • An encoding end obtains N primary tactile signals corresponding to a block group of a target object and a secondary tactile signal associated with each primary tactile signal.
  • the block group is composed of at least one block, and each block includes multiple spatial positions, that is, the block group includes multiple spatial positions.
  • each spatial position in the block group of the target object corresponds to a tactile signal
  • the block group corresponds to N main tactile signals and a secondary tactile signal associated with each main tactile signal.
  • the above-mentioned N main tactile signals and the secondary tactile signal associated with each main tactile signal are determined based on multiple tactile signals corresponding to the block group, and N is a positive integer greater than or equal to 1.
  • one main tactile signal is associated with at least one secondary tactile signal
  • one secondary tactile signal can be associated with one main tactile signal.
  • one secondary haptic signal may be associated with multiple primary haptic signals.
  • the primary tactile signal is determined based on the position order corresponding to each spatial position in the block group. For example, the tactile signal corresponding to the spatial position at the center of the block group and the tactile signal corresponding to the spatial position adjacent to the spatial position at the center of the block group are determined as the primary tactile signal. In this implementation, the tactile signals corresponding to the remaining spatial positions can be determined as secondary tactile signals.
  • the above-mentioned main tactile signal is determined based on the scanning order corresponding to each spatial position in the block group. For example, the tactile signal corresponding to the spatial position whose scanning order is less than a preset value is determined as the main tactile signal. In this implementation, the tactile signal corresponding to the spatial position whose scanning order is greater than or equal to the preset value is determined as the secondary tactile signal.
  • a tactile signal partition table corresponding to the block group can be generated based on the tactile signals corresponding to each spatial position in the block group.
  • the above-mentioned tactile signal partition table is used to characterize each main tactile signal corresponding to the block group and the secondary tactile signal associated with the main tactile signal, and the main tactile signal and the secondary tactile signal are read from the tactile signal partition table.
  • the encoding end performs frequency band decomposition on the N main tactile signals and the secondary tactile signals associated with each main tactile signal to obtain a first frequency signal and a second frequency signal corresponding to each main tactile signal, and a third frequency signal and a fourth frequency signal corresponding to each secondary tactile signal.
  • the main tactile signal can be decomposed into frequency bands to obtain a first frequency signal and a second frequency signal corresponding to the main tactile signal, wherein the frequency of the first frequency signal is greater than a first threshold, and the frequency of the second frequency signal is less than or equal to the first threshold.
  • the first frequency signal is also called a first high-frequency signal
  • the second frequency signal is also called a first low-frequency signal.
  • the first threshold can be customized.
  • the secondary tactile signal can be decomposed into frequency bands to obtain a third frequency signal and a fourth frequency signal corresponding to the secondary tactile signal, wherein the frequency of the third frequency signal is greater than the second threshold, and the frequency of the fourth frequency signal is less than or equal to the second threshold.
  • the third frequency signal is also called the second high-frequency signal, and the fourth frequency signal is also called the second low-frequency signal.
  • the second threshold can be customized.
  • the tactile signal may be zero-phase filtered using 8th order Butterworth high-pass and low-pass filters with a cutoff frequency set to 72.5 Hz.
  • the encoding end encodes the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal to generate a target code stream.
  • the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal are encoded to generate a target code stream.
  • the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal are encoded to generate a target code stream.
  • the first frequency signal and the second frequency signal corresponding to the main tactile signal, as well as the third frequency signal and the fourth frequency signal corresponding to the secondary tactile signal are encoded to generate a target code stream, thereby realizing tactile signal encoding by encoding multi-point tactile signals, rather than encoding each single-point tactile signal one by one to realize tactile signal encoding, thereby improving the encoding efficiency of tactile signal encoding.
  • encoding the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal to generate a target bitstream includes:
  • the encoding end extracts a first key frame corresponding to the second frequency signal and a second key frame corresponding to the fourth frequency signal;
  • the encoding end encodes the first key frame and the second key frame to generate a first bit stream
  • the encoding end determines a second code stream based on the first frequency signal and the first signal residual, and determines a third code stream based on the third frequency signal and the second signal residual;
  • the encoding end generates a target bitstream according to the first bitstream, the second bitstream and the third bitstream.
  • the low-frequency signal corresponding to the primary tactile signal and the low-frequency signal corresponding to the secondary tactile signal are encoded in the same manner.
  • the time domain content analysis is performed on the second frequency signal, and the extreme value extraction algorithm is used to extract the extreme value of the second frequency signal.
  • the extracted extreme value points are saved in a preset format to obtain a first key frame, and then the first key frame is encoded to generate a first code stream.
  • the above preset format is "time-amplitude", that is, the time information and vibration amplitude information of the tactile signal are retained.
  • other methods can also be used to extract the key frames of the second frequency signal. For example, based on the vibration amplitude information corresponding to each signal frame in the frequency signal, the key frames are extracted. The specific method of extracting the key frames is not limited here.
  • the fourth frequency signal is subjected to time domain content analysis, and the local extreme value extraction algorithm is used to extract the extreme value of the fourth frequency signal, and the extracted extreme value points are saved in a preset format to obtain the second key frame, and then encode the second key frame to generate a second bit stream.
  • key frames may be extracted based on vibration amplitude information corresponding to each signal frame in the frequency signal.
  • the specific method of extracting key frames is not limited herein.
  • the first signal residual can be determined based on the second frequency signal and the first key frame, and the first signal residual is a low-frequency signal residual, and then the second code stream is determined based on the first frequency signal and the first signal residual.
  • the second signal residual can be determined based on the fourth frequency signal and the second key frame, and the second signal residual is a low-frequency signal residual, and then the third code stream is determined based on the third frequency signal and the second signal residual.
  • the first code stream, the second code stream and the third code stream are mixed to generate a target code stream.
  • the first code stream, the second code stream and the third code stream can be losslessly compressed by an arithmetic encoder to obtain a target code stream.
  • the first key frame corresponding to the second frequency signal, the second key frame corresponding to the fourth frequency signal, and the first frequency signal and the third frequency signal are encoded to generate a target code stream, thereby realizing tactile signal encoding by encoding multi-point tactile signals, thereby improving the encoding efficiency of tactile signal encoding.
  • encoding the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal to generate a target bitstream includes:
  • the encoding end extracts a first key frame corresponding to the second frequency signal, and encodes the first key frame to generate a fourth bit stream;
  • the encoding end performs a difference operation on the fourth frequency signal and the second frequency signal to obtain a second key frame corresponding to the fourth frequency signal, and encodes the second key frame to generate a fifth bit stream;
  • the encoding end determines a second code stream based on the first frequency signal and the first signal residual, and determines a third code stream based on the third frequency signal and the second signal residual;
  • a target code stream is generated according to the second code stream, the third code stream, the fourth code stream and the fifth code stream.
  • time domain content analysis can be performed, and the local extreme value extraction algorithm is used to extract the extreme value of the second frequency signal, and the extracted extreme value points are saved in a preset format to obtain the first key frame, and then the first key frame is encoded to generate a fourth bit stream.
  • a difference operation is performed on the fourth frequency signal and the second frequency signal, and the non-zero part of the operation result is determined as the second key frame, and then the second key frame is encoded to generate a fifth bit stream.
  • the first signal residual can be determined based on the second frequency signal and the first key frame, and the first signal residual is a low-frequency signal residual, and then the second code stream is determined based on the first frequency signal and the first signal residual.
  • the second signal residual can be determined based on the fourth frequency signal and the second key frame, and the second signal residual is a low-frequency signal residual, and then the third code stream is determined based on the third frequency signal and the second signal residual.
  • the second code stream, the third code stream, the fourth code stream and the fifth code stream After obtaining the second code stream, the third code stream, the fourth code stream and the fifth code stream, the second code stream, the third code stream, the fourth code stream and the fifth code stream are mixed to generate a target code stream.
  • the second code stream, the third code stream, the fourth code stream and the fifth code stream can be losslessly compressed by an arithmetic encoder to obtain a target code stream.
  • the first key frame corresponding to the second frequency signal, the second key frame corresponding to the fourth frequency signal, and the first frequency signal and the third frequency signal are encoded to generate a target code stream, thereby realizing tactile signal encoding by encoding multi-point tactile signals, thereby improving the encoding efficiency of tactile signal encoding.
  • encoding the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal to generate a target bitstream includes:
  • the encoding end encodes the first key frame corresponding to the second frequency signal to generate a fourth bit stream
  • the encoding end encodes the second key frame corresponding to the fourth frequency signal to generate a fifth bit stream
  • the encoding end determines a second code stream based on the first frequency signal and the first signal residual, and determines a third code stream based on the third frequency signal and the second signal residual;
  • a target code stream is generated according to the second code stream, the third code stream, the fourth code stream and the fifth code stream.
  • the first key frame corresponding to the second frequency signal can be encoded to generate a fourth code stream.
  • the second key frame corresponding to the fourth frequency signal is encoded to generate a fifth code stream.
  • the subsequent embodiments For a specific technical solution on how to generate the fifth code stream, please refer to the subsequent embodiments.
  • the first signal residual can be determined based on the second frequency signal and the first key frame, and the first signal residual is a low-frequency signal residual, and then the second code stream is determined based on the first frequency signal and the first signal residual.
  • the second signal residual can be determined based on the fourth frequency signal and the second key frame, and the second signal residual is a low-frequency signal residual, and then the third code stream is determined based on the third frequency signal and the second signal residual.
  • the second code stream, the third code stream, the fourth code stream and the fifth code stream After obtaining the second code stream, the third code stream, the fourth code stream and the fifth code stream, the second code stream, the third code stream, the fourth code stream and the fifth code stream are mixed to generate a target code stream.
  • the second code stream, the third code stream, the fourth code stream and the fifth code stream can be losslessly compressed by an arithmetic encoder to obtain a target code stream.
  • the first key frame corresponding to the second frequency signal, the second key frame corresponding to the fourth frequency signal, and the first frequency signal and the third frequency signal are encoded to generate a target code stream, thereby realizing tactile signal encoding by encoding multi-point tactile signals, thereby improving the encoding efficiency of tactile signal encoding.
  • encoding the first key frame corresponding to the second frequency signal to generate a fourth bitstream includes:
  • the encoding end extracts a first key frame corresponding to the second frequency signal, and encodes the first key frame to generate the fourth bit stream when the main tactile signal corresponding to the second frequency signal is the maximum main tactile signal;
  • the encoding end When the main tactile signal corresponding to the second frequency signal is not the maximum main tactile signal, the encoding end performs a difference operation on the second frequency signal and the first target signal to obtain a first key frame corresponding to the second frequency signal, and encodes the first key frame to generate the fourth bit stream.
  • the second frequency signal is a low frequency signal corresponding to the main tactile signal.
  • N is greater than 1
  • the N main tactile signals corresponding to the block group are sorted in descending order of power. It should be understood that the above sorting is the sorting of the coding order corresponding to each main tactile signal.
  • An optional implementation is that, when the main tactile signal corresponding to the second frequency signal is the maximum main tactile signal, the second frequency signal is subjected to time domain content analysis, and the second frequency signal is subjected to extreme value extraction using a local extreme value extraction algorithm, and the extracted extreme value points are saved in a preset format to obtain a first key frame, and then the first key frame is encoded to generate a fourth bit stream.
  • the maximum main tactile signal is the main tactile signal with the largest power among the N main tactile signals, that is, the maximum main tactile signal is the main tactile signal with the highest order among the N main tactile signals.
  • Another optional implementation is that, when the main tactile signal corresponding to the second frequency signal is not the maximum main tactile signal, a difference operation is performed on the second frequency signal and the first target signal, and the operation result is determined as the first key frame, and then the first key frame is encoded to generate a fourth bit stream.
  • the first target signal is a low-frequency signal corresponding to the target main tactile signal
  • the target main tactile signal is a main tactile signal that is ranked before the main tactile signal corresponding to the second frequency signal among the N main tactile signals.
  • encoding the second key frame corresponding to the fourth frequency signal to generate a fifth bitstream includes:
  • the encoding end performs a difference operation on the fourth frequency signal and the second frequency signal to obtain a second key frame corresponding to the fourth frequency signal, and encodes the second key frame to generate the fifth bit stream; or,
  • the encoding end extracts a second key frame corresponding to the fourth frequency signal, and encodes the second key frame to generate the fifth bit stream.
  • An optional implementation is to perform a difference operation on the fourth frequency signal and the second frequency signal, determine a non-zero part of the operation result as a second key frame, and then encode the second key frame to generate a fifth bit stream.
  • Another optional implementation is to perform time domain content analysis on the fourth frequency signal, and use a local extreme value extraction algorithm to extract extreme values of the fourth frequency signal, save the extracted extreme value points in a preset format, obtain a second key frame, and then encode the second key frame to generate a fifth code stream.
  • determining the second code stream based on the first frequency signal and the first signal residual includes:
  • the encoding end performs interpolation processing on the first key frame to obtain a second target signal
  • the encoding end determines a first signal residual according to the second frequency signal and the second target signal
  • the encoding end determines a third target according to the first frequency signal and the first signal residual Signal
  • the encoding end performs wavelet transform on the third target signal to obtain first wavelet coefficients
  • the encoding end encodes the first wavelet coefficients after quantization processing to generate the second code stream.
  • the first key frame can be interpolated to obtain a second target signal, the second target signal being a low-frequency signal, and then the first signal residual is determined based on the second frequency signal and the second target signal.
  • the first signal residual is the difference between the second frequency signal and the second target signal, or the first signal residual is the difference between the second target signal and the second frequency signal.
  • the first signal residual After obtaining the first signal residual, add the first frequency signal to the first signal residual to determine the third target signal, where the third target signal is a high-frequency signal; perform block processing on the third target signal to obtain at least one signal block corresponding to the third target signal.
  • set the block length of the signal block to 512. If the block length of the signal block corresponding to the third target signal is less than 512, the signal block can be padded with 0s to pad the block length of the signal block to 512.
  • the quantization operation performed on the first wavelet coefficients may be to input the signal block into the psychological perception model, obtain the energy value and signal mask ratio corresponding to the signal block, and quantize the first wavelet coefficients using the energy value and signal mask ratio.
  • the first wavelet coefficients after quantization processing can be encoded using the Set Partitioning in Hierarchical Trees (SPIHT) algorithm.
  • SPIHT Set Partitioning in Hierarchical Trees
  • determining a third code stream based on the third frequency signal and the second signal residual includes:
  • the encoding end performs interpolation processing on the second key frame to obtain a fourth target signal
  • the encoding end determines a second signal residual according to the fourth frequency signal and the fourth target signal
  • the encoding end determines a fifth target signal according to the third frequency signal and the second signal residual;
  • the encoding end performs wavelet transform on the fifth target signal to obtain second wavelet coefficients
  • the encoding end encodes the second wavelet coefficients after quantization processing to generate the third code stream.
  • the second key frame may be interpolated to obtain a fourth target signal, the fourth target signal being a low-frequency signal, and then the second signal residual may be determined based on the fourth frequency signal and the fourth target signal.
  • the second signal residual is the difference between the fourth frequency signal and the fourth target signal, or the second signal residual is the difference between the fourth target signal and the fourth frequency signal.
  • the third frequency signal to the second signal residual to determine the fifth target signal, where the fifth target signal is a high-frequency signal; perform block processing on the fifth target signal to obtain at least one signal block corresponding to the fifth target signal.
  • set the block length of the signal block to 512. If the block length of the signal block corresponding to the fifth target signal is less than 512, the signal block can be padded with 0s to pad the block length of the signal block to 512.
  • the quantization operation performed on the second wavelet coefficients may be to input the signal block into the psychological perception model, obtain the energy value and signal mask ratio corresponding to the signal block, and quantize the second wavelet coefficients using the energy value and signal mask ratio.
  • the SPIHT algorithm may be used to encode the second wavelet coefficients after quantization.
  • FIG. 2 is a flow chart of a tactile signal decoding method provided in an embodiment of the present application.
  • the tactile signal decoding method provided in this embodiment includes the following steps:
  • the decoding end obtains the target bit stream.
  • the decoding end determines a first frequency signal, a second frequency signal, a third frequency signal, and a fourth frequency signal based on the target bit stream.
  • the frequency of the first frequency signal is greater than the first threshold
  • the frequency of the second frequency signal is less than or equal to the first threshold
  • the frequency of the third frequency signal is greater than the second threshold
  • the frequency of the fourth frequency signal is less than or equal to the second threshold
  • the decoding end determines a main tactile signal based on the first frequency signal and the second frequency signal, and determines a phase of the main tactile signal based on the third frequency signal and the fourth frequency signal. Associated subtactile signals.
  • a decoding end decodes a target code stream, determines a first frequency signal, a second frequency signal, a third frequency signal, and a fourth frequency signal, and then determines a primary tactile signal based on the first frequency signal and the second frequency signal, determines a secondary tactile signal associated with the primary tactile signal based on the third frequency signal and the fourth frequency signal, and decodes the target code stream using a decoding method corresponding to the method in which the encoding end encodes the tactile signal to obtain a tactile signal.
  • the target code stream includes a first code stream, a second code stream, and a third code stream, and based on the target code stream, determining the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal includes:
  • the decoding end performs interpolation processing on the first key frame obtained by decoding the first code stream to obtain a second frequency signal, and performs interpolation processing on the second key frame obtained by decoding the first code stream to obtain a fourth frequency signal;
  • the decoding end decodes the second code stream to determine a first frequency signal
  • the decoding end decodes the third code stream to determine a third frequency signal.
  • the decoding end decodes the first code stream to obtain a first key frame, and then performs interpolation processing on the first key frame to obtain a second frequency signal.
  • the target code stream includes a second code stream, a third code stream, a fourth code stream and a fifth code stream, and based on the target code stream, determining the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal includes:
  • the decoding end performs interpolation processing on the first key frame obtained by decoding the fourth bit stream to obtain a second frequency signal
  • the decoding end determines a fourth frequency signal based on a second key frame and the second frequency signal obtained by decoding the fifth bit stream;
  • the decoding end decodes the second code stream to determine a first frequency signal
  • the decoding end decodes the third code stream to determine a third frequency signal.
  • the decoding end decodes the fourth bit stream to obtain the first key frame, and then performs interpolation processing on the first key frame to obtain the second frequency signal. frame, adding the second key frame and the second frequency signal to obtain a fourth frequency signal.
  • the target code stream includes a second code stream, a third code stream, a fourth code stream and a fifth code stream, and based on the target code stream, determining the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal includes:
  • the decoding end determines a second frequency signal based on a first key frame obtained by decoding the fourth bit stream
  • the decoding end determines a fourth frequency signal based on a second key frame obtained by decoding the fifth bit stream
  • the decoding end decodes the second code stream to determine a first frequency signal
  • the decoding end decodes the third code stream to determine a third frequency signal.
  • determining the second frequency signal based on the first key frame obtained by decoding the fourth bitstream includes:
  • the decoding end decodes the fourth bit stream to obtain a first key frame
  • the decoding end performs interpolation processing on the first key frame to obtain a second frequency signal when the main tactile signal corresponding to the first key frame is the maximum main tactile signal;
  • the decoding end determines a second frequency signal based on the first key frame and the first target signal when N is greater than 1 and the main tactile signal corresponding to the first key frame is not the maximum main tactile signal.
  • An optional implementation is, when the main tactile signal corresponding to the first key frame is a maximum main tactile signal, interpolation processing is performed on the first key frame to obtain a second frequency signal, wherein the maximum main tactile signal is a main tactile signal with the largest power among N main tactile signals, and N is a positive integer greater than or equal to 1.
  • Another optional implementation is that, when the main tactile signal corresponding to the first key frame is not the maximum main tactile signal, the first key frame and the first target signal are added to obtain a second frequency signal.
  • the first target signal is a low-frequency signal corresponding to the target main tactile signal
  • the target main tactile signal is a main tactile signal that is ranked before the main tactile signal corresponding to the first key frame among the N main tactile signals. It should be understood that the above ranking is the ranking of the decoding order corresponding to the main tactile signal.
  • determining the fourth frequency signal based on the second key frame obtained by decoding the fifth bitstream includes:
  • the decoding end determines a fourth frequency signal based on the second key frame and the second frequency signal; or,
  • the decoding end performs interpolation processing on the second key frame to determine a fourth frequency signal.
  • An optional implementation is to add the second key frame and the second frequency signal to obtain a fourth frequency signal.
  • Another optional implementation is to perform interpolation processing on the second key frame to determine the fourth frequency signal.
  • the decoding the second code stream to determine the first frequency signal includes:
  • the decoding end decodes the second bit stream to obtain first wavelet coefficients
  • the decoding end performs inverse wavelet transform on the first wavelet coefficients after inverse quantization processing to obtain a first frequency signal.
  • the above decoding method may be to use a SPIHT algorithm to decode the second code stream.
  • the decoding the third code stream to determine the third frequency signal includes:
  • the decoding end decodes the third bit stream to obtain second wavelet coefficients
  • the decoding end performs inverse wavelet transform on the second wavelet coefficients after the inverse quantization process to obtain a third frequency signal.
  • the decoding end decodes the target bit stream using a decoding method corresponding to the method in which the encoding end encodes the tactile signal to obtain the tactile signal, which will not be repeated here.
  • the tactile signal encoding method provided in the embodiment of the present application may be executed by a tactile signal encoding device.
  • the tactile signal encoding device is applied to an encoding end to execute the tactile signal encoding method as an example to illustrate the tactile signal encoding device provided in the embodiment of the present application.
  • the embodiment of the present application further provides a tactile signal encoding device 300, comprising:
  • An acquisition module 301 is used to acquire N main tactile signals corresponding to a block group of a target object and a secondary tactile signal associated with each main tactile signal; the N main tactile signals and the secondary tactile signal associated with each main tactile signal are determined based on a plurality of tactile signals corresponding to the block group, where N is a positive integer greater than or equal to 1;
  • the processing module 302 is used to perform frequency band decomposition on the N main tactile signals and the secondary tactile signals associated with each main tactile signal to obtain a first frequency signal and a second frequency signal corresponding to each main tactile signal, and a third frequency signal and a fourth frequency signal corresponding to each secondary tactile signal;
  • the frequency of the first frequency signal is greater than the first threshold
  • the frequency of the second frequency signal is less than or equal to the first threshold
  • the frequency of the third frequency signal is greater than the second threshold
  • the frequency of the fourth frequency signal is less than or equal to the second threshold
  • the encoding module 303 is used to encode the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal to generate a target code stream.
  • the encoding module 303 is specifically configured to:
  • a target code stream is generated according to the first code stream, the second code stream and the third code stream.
  • the encoding module 303 is further specifically configured to:
  • a target code stream is generated according to the second code stream, the third code stream, the fourth code stream and the fifth code stream.
  • the encoding module 303 is further specifically configured to:
  • the second code stream is determined based on the first frequency signal and the first signal residual, and the third frequency signal is determined based on the third frequency signal.
  • the first signal residual is determined based on the second frequency signal and the first key frame, and the second signal residual is determined based on the fourth frequency signal and the second key frame;
  • a target code stream is generated according to the second code stream, the third code stream, the fourth code stream and the fifth code stream.
  • the N main tactile signals are sorted in descending order of power
  • the encoding module 303 is further specifically configured to:
  • the main tactile signal corresponding to the second frequency signal is a maximum main tactile signal, extracting a first key frame corresponding to the second frequency signal, and encoding the first key frame to generate the fourth bit stream;
  • the maximum main tactile signal is a main tactile signal with the largest power among the N main tactile signals;
  • the main tactile signal corresponding to the second frequency signal is not the maximum main tactile signal
  • a difference operation is performed on the second frequency signal and the first target signal to obtain a first key frame corresponding to the second frequency signal, and the first key frame is encoded to generate the fourth code stream
  • the first target signal is a low-frequency signal corresponding to the target main tactile signal
  • the target main tactile signal is a main tactile signal that is sorted before the main tactile signal corresponding to the second frequency signal among the N main tactile signals.
  • the encoding module 303 is further specifically configured to:
  • a second key frame corresponding to the fourth frequency signal is extracted, and the second key frame is encoded to generate the fifth code stream.
  • the encoding module 303 is further specifically configured to:
  • the first wavelet coefficients after quantization are encoded to generate the second code stream.
  • the encoding module 303 is further specifically configured to:
  • the second wavelet coefficients after quantization are encoded to generate the third code stream.
  • the tactile signal decoding method provided in the embodiment of the present application may be executed by a tactile signal decoding device.
  • the tactile signal decoding device is applied to a decoding end to execute the tactile signal decoding method as an example to illustrate the tactile signal decoding device provided in the embodiment of the present application.
  • the embodiment of the present application further provides a tactile signal decoding device 400, comprising:
  • the acquisition module 401 is used to acquire the target bitstream
  • a first determination module 402 is used to determine a first frequency signal, a second frequency signal, a third frequency signal and a fourth frequency signal based on the target code stream; the frequency of the first frequency signal is greater than a first threshold, the frequency of the second frequency signal is less than or equal to the first threshold, the frequency of the third frequency signal is greater than a second threshold, and the frequency of the fourth frequency signal is less than or equal to the second threshold;
  • the second determining module 403 is configured to determine a primary tactile signal based on the first frequency signal and the second frequency signal, and determine a secondary tactile signal associated with the primary tactile signal based on the third frequency signal and the fourth frequency signal.
  • the target code stream includes a first code stream, a second code stream and a third code stream
  • the first determining module 402 is specifically configured to:
  • the third code stream is decoded to determine a third frequency signal.
  • the target code stream includes a second code stream, a third code stream, a fourth code stream and a fifth code stream
  • the first determining module 402 is further specifically configured to:
  • the third code stream is decoded to determine a third frequency signal.
  • the target code stream includes a second code stream, a third code stream, a fourth code stream and a fifth code stream
  • the first determining module 402 is further specifically configured to:
  • the third code stream is decoded to determine a third frequency signal.
  • the first determining module 402 is further specifically configured to:
  • the main tactile signal corresponding to the first key frame is a maximum main tactile signal
  • interpolation processing is performed on the first key frame to obtain a second frequency signal
  • the maximum main tactile signal is a main tactile signal with the largest power among N main tactile signals, where N is a positive integer greater than or equal to 1;
  • a second frequency signal is determined based on the first key frame and the first target signal; the first target signal is a low-frequency signal corresponding to the target main tactile signal, and the target main tactile signal is a main tactile signal that is sorted before the main tactile signal corresponding to the first key frame among the N main tactile signals.
  • the first determining module 402 is further specifically configured to:
  • An interpolation process is performed on the second key frame to determine a fourth frequency signal.
  • the first determining module 402 is further specifically configured to:
  • An inverse wavelet transform is performed on the first wavelet coefficient after the inverse quantization process to obtain a first frequency signal.
  • the first determining module 402 is further specifically configured to:
  • the inverse wavelet transform is performed on the second wavelet coefficients after the inverse quantization process to obtain a third frequency signal.
  • the first frequency signal and the second frequency signal corresponding to the main tactile signal, and the third frequency signal and the fourth frequency signal corresponding to the secondary tactile signal are encoded to generate a target code stream.
  • the tactile signal encoding is realized by encoding multi-point tactile signals instead of encoding each single-point tactile signal one by one, thereby improving the encoding efficiency of the tactile signal encoding.
  • the tactile signal encoding device applied to the encoding end provided in the embodiment of the present application can implement each process implemented in the method embodiment of Figure 1 and achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • the tactile signal decoding device applied to the decoding end provided in the embodiment of the present application can implement each process implemented by the method embodiment of FIG. 2 and achieve the same technical effect. To avoid repetition, it will not be described again here.
  • the tactile signal encoding device and the tactile signal decoding device in the embodiments of the present application may be electronic devices, such as electronic devices with an operating system, or components in electronic devices, such as integrated circuits or chips.
  • the electronic device may be a terminal, or may be other devices other than a terminal.
  • the terminal may include but is not limited to the types of terminals listed above, and other devices may be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiments of the present application.
  • an embodiment of the present application further provides a communication device 500, including a processor 501 and a memory 502, wherein the memory 502 stores a program or instruction that can be run on the processor 501.
  • the communication device 500 is a terminal
  • the program or instruction is executed by the processor 501 to implement the following operations:
  • the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal are encoded to generate a target code stream.
  • the processor 501 is configured to perform the following operations:
  • a primary haptic signal is determined based on the first frequency signal and the second frequency signal, and a secondary haptic signal associated with the primary haptic signal is determined based on the third frequency signal and the fourth frequency signal.
  • the electronic device embodiment corresponds to the method embodiment, and each implementation process and implementation method of the above method embodiment can be applied to the electronic device embodiment and can achieve the same technical effect.
  • FIG6 is a schematic diagram of the hardware structure of a terminal implementing the embodiment of the present application.
  • the terminal 600 includes but is not limited to: a radio frequency unit 601, a network module 602, an audio output unit 603, an input unit 604, a sensor 605, a display unit 606, a user input unit 607, an interface unit 608, a memory 609, and a processor 610.
  • the terminal 600 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 610 through a power management system, so as to implement functions such as managing charging, discharging, and power consumption management through the power management system.
  • a power source such as a battery
  • the terminal structure shown in FIG6 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently, which will not be described in detail here.
  • the input unit 604 may include a graphics processing unit (GPU) 6041 and a microphone 6042, and the graphics processor 6041 processes the image data of the static picture or video obtained by the image capture device (such as a camera) in the video capture mode or the image capture mode.
  • the display unit 606 may include a display panel 6061, and the display panel 6061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc.
  • the user input unit 607 includes a touch panel 6071 and at least one of other input devices 6072.
  • the touch panel 6071 is also called a touch screen.
  • the touch panel 6071 may include two parts: a touch detection device and a touch controller.
  • Other input devices 6072 may include, but are not limited to, a physical keyboard, function keys (such as a volume control key, a switch key, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.
  • the RF unit 601 after receiving downlink data from the network side device, can transmit the data to the processor 610 for processing; the RF unit 601 can send uplink data to the network side device.
  • the RF unit 601 includes but is not limited to an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.
  • the memory 609 can be used to store software programs or instructions and various data.
  • the memory 609 can mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area
  • the storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc.
  • the memory 609 may include a volatile memory or a non-volatile memory, or the memory 609 may include both a volatile memory and a non-volatile memory.
  • the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.
  • the volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM).
  • the memory 609 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.
  • the processor 610 may include one or more processing units; optionally, the processor 610 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 610.
  • the processor 610 is configured to perform the following operations:
  • the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal are encoded to generate a target code stream.
  • processor 610 is configured to perform the following operations:
  • a primary haptic signal is determined based on the first frequency signal and the second frequency signal, and a secondary haptic signal associated with the primary haptic signal is determined based on the third frequency signal and the fourth frequency signal.
  • An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored.
  • a program or instruction is stored.
  • the various processes of the above-mentioned tactile signal encoding method embodiment are implemented, or the various processes of the above-mentioned tactile signal decoding method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
  • the processor is the processor in the terminal described in the above embodiment.
  • the readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.
  • An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned tactile signal encoding method embodiment, or to implement the various processes of the above-mentioned tactile signal decoding method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.
  • the embodiments of the present application further provide a computer program/program product, which is stored in a storage medium, and is executed by at least one processor to implement the various processes of the above-mentioned tactile signal encoding method embodiment, or to implement the various processes of the above-mentioned tactile signal decoding method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • An embodiment of the present application further provides a system, which includes an encoding end and a decoding end.
  • the encoding end executes the various processes of the above-mentioned embodiment of the tactile signal encoding method applied to the encoding end
  • the decoding end executes the various processes of the above-mentioned embodiment of the tactile signal decoding method applied to the decoding end, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • the technical solution of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.
  • a storage medium such as ROM/RAM, a magnetic disk, or an optical disk
  • a terminal which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.

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Abstract

本申请提供了一种触觉信号编码方法、触觉信号解码方法、装置及设备，属于编解码技术领域。上述触觉信号编码方法包括：获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；对N个主触觉信号和每个主触觉信号相关联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；编码第一频率信号、第二频率信号、第三频率信号和第四频率信号，生成目标码流。

Description

触觉信号编码方法、触觉信号解码方法、装置及设备
相关申请的交叉引用
本申请主张在2022年11月8日在中国提交的中国专利申请号No.202211394128.1的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于编解码技术领域，具体涉及一种触觉信号编码方法、触觉信号解码方法、装置及设备。
背景技术
触觉信息主要分为两大类：基于肌肉运动知觉的触觉信息，又称为动觉信息；以及基于皮肤纹理知觉的触觉信息，又称为纹理觉信息。在一些技术领域，例如虚拟现实技术领域或自动驾驶技术领域，通过基于触觉信息生成触觉信号，由硬件设备向用户传递触觉信号，使得用户感受到振动或脉冲，以增加用户的触觉感知。
相关技术中，可以通过触觉信号编码，实现对触觉信号的压缩，具体而言，将目标对象划分为多个区块，逐一对每个区块内的单点触觉信号进行编码，实现触觉信号编码，这导致触觉信号编码的编码效率不高。
发明内容
本申请实施例提供一种触觉信号编码方法、触觉信号解码方法、装置及设备，能够解决触觉信号编码的编码效率不高的问题。
第一方面，提供了一种触觉信号编码方法，包括：
编码端获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；所述N个主触觉信号和每个主触觉信号相关联的次触觉信号基于所述区块组对应的多个触觉信号确定，N为大于或等于1的正整数；
所述编码端对所述N个主触觉信号和每个主触觉信号相关联的次触觉信 号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
所述编码端编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流。
第二方面，提供一种触觉信号解码方法，包括：
解码端获取目标码流；
所述解码端基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
所述解码端基于所述第一频率信号和所述第二频率信号确定主触觉信号，基于所述第三频率信号和所述第四频率信号确定所述主触觉信号相关联的次触觉信号。
第三方面，提供了一种触觉信号编码装置，应用于编码端，所述装置包括：
获取模块，用于获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；所述N个主触觉信号和每个主触觉信号相关联的次触觉信号基于所述区块组对应的多个触觉信号确定，N为大于或等于1的正整数；
处理模块，用于对所述N个主触觉信号和每个主触觉信号相关联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
编码模块，用于编码所述第一频率信号、所述第二频率信号、所述第三 频率信号和所述第四频率信号，生成目标码流。
第四方面，提供了一种触觉信号解码装置，应用于解码端，所述装置包括：
获取模块，用于获取目标码流；
第一确定模块，用于基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
第二确定模块，用于基于所述第一频率信号和所述第二频率信号确定主触觉信号，基于所述第三频率信号和所述第四频率信号确定所述主触觉信号相关联的次触觉信号。
第五方面，提供了一种终端，该终端包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第六方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第七方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法，或者实现如第二方面所述的方法。
第八方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第九方面，提供了一种系统，所述系统包括编码端和解码端，所述编码端执行如第一方面所述的方法的步骤，所述解码端执行如第二方面所述的方法的步骤。
本申请实施例中，获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；对N个主触觉信号和每个主触觉信号相关 联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；编码第一频率信号、第二频率信号、第三频率信号和第四频率信号，生成目标码流。本申请实施例中，编码主触觉信号对应的第一频率信号和第二频率信号，以及次触觉信号对应的第三频率信号和第四频率信号，生成目标码流，以此通过编码多点触觉信号的方式实现触觉信号编码，而不是逐一编码每个单点触觉信号实现触觉信号编码，提高了触觉信号编码的编码效率。
附图说明
图1是本申请实施例提供的触觉信号编码方法的流程示意图；
图2是本申请实施例提供的触觉信号解码方法的流程示意图；
图3是本申请实施例提供的触觉信号编码装置的结构图；
图4是本申请实施例提供的触觉信号解码装置的结构图；
图5是本申请实施例提供的通信设备的结构图；
图6是本申请实施例提供的终端的硬件结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。
在相关技术中，目标对象包括多个区块，例如，上述目标对象可以是人 体，将人体的各个部位划分为多个区块，并对每个区块进行标号。例如，标号1：头部正面；标号2：头部后面；标号3：头部右侧；标号4：头部左侧；标号5：右上胸部；标号6：左上胸部；标号7：腹部；标号8：腰部；标号9：背部上侧；标号10：背部下侧；标号11：右上臂；标号12：左上臂；标号13：右侧小臂；标号14：左侧小臂；标号15：右手腕部；标号16：左手腕部；标号17：右手掌；标号18：左手掌；标号19：右手背；标号20：左手背；标号21：右手指；标号22：左手指；标号23：右大腿；标号24：左大腿；标号25：右小腿；标号26：左小腿；标号27：右脚掌；标号28：左脚掌；标号29：右脚背；标号30：左脚背；标号31：右脚趾；标号32：左脚趾。
可选地，可以使用序号表示每个区块，序号为标号减1所对应的5位二进制数。例如，标号1表示头部正面，头部正面对应的序号为00000,；标号12表示左上臂，左上臂对应的序号为01011；标号32表示左脚趾，左脚趾对应的序号为11111。
本申请实施例中，可以将至少一个区块划分为一个区块组，应理解，每个区块包括多个空间位置，每个空间位置对应一个触觉信号又称单点触觉信号。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的应用于编码端的触觉信号编码方法进行详细地说明。
请参阅图1，图1是本申请实施例提供的觉信号编码方法的流程图。本实施例提供的触觉信号编码方法包括以下步骤：
S101，编码端获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号。
如上所述，区块组由至少一个区块构成，每个区块包括多个空间位置，即区块组包括多个空间位置。
本步骤中，目标对象的区块组中的每个空间位置对应一个触觉信号，区块组对应N个主触觉信号和每个主触觉信号相关联的次触觉信号，上述N个主触觉信号和每个主触觉信号相关联的次触觉信号基于区块组对应的多个触觉信号确定，N为大于或等于1的正整数。需要说明的是，1个主触觉信号与至少一个次触觉信号相关联，1个次触觉信号可以与1个主触觉信号相关联， 或者1个次触觉信号可以与多个主触觉信号相关联。
一种可选地实施方式为，上述主触觉信号基于区块组中各个空间位置对应的位置顺序确定。例如，将位于区块组中心的空间位置对应的触觉信号、与区块组中心的空间位置相邻的空间位置对应的触觉信号，确定为主触觉信号。这种实施方式下，可以将其余空间位置对应的触觉信号确定为次触觉信号。
另一种可选地实施方式为，上述主触觉信号基于区块组中各个空间位置对应的扫描顺序确定。例如，将扫描顺序小于预设数值的空间位置对应的触觉信号确定为主触觉信号。这种实施方式下，扫描顺序大于等于预设数值的空间位置对应的触觉信号确定为次触觉信号。
另一种可选地实施方式为，可以基于区块组中各个空间位置对应的触觉信号，生成该区块组对应的触觉信号划分表，上述触觉信号划分表用于表征该区块组对应的每个主触觉信号和该主触觉信号相关联的次触觉信号，从该触觉信号划分表中读取主触觉信号和次触觉信号。
S102，所述编码端对所述N个主触觉信号和每个主触觉信号相关联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号。
本步骤中，可以对主触觉信号进行频带分解，获得该主触觉信号对应的第一频率信号和第二频率信号，其中，所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，上述第一频率信号又称为第一高频信号，上述第二频率信号又称为第一低频信号。上述第一阈值可以自定义设置。
可以对次触觉信号进行频带分解，获得该次触觉信号对应的第三频率信号和第四频率信号，其中，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值，上述第三频率信号又称为第二高频信号，上述第四频率信号又称为第二低频信号。上述第二阈值可以自定义设置。
可选地，可以使用8阶巴特沃斯高通和低通滤波器对触觉信号进行零相位滤波，截止频率设为72.5Hz。
S103，所述编码端编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流。
本步骤中，在得到第一频率信号、第二频率信号、第三频率信号和第四频率信号之后，对第一频率信号、第二频率信号、第三频率信号和第四频率信号进行编码，生成目标码流，具体的实施方式请参阅后续实施例。
本申请实施例中，编码主触觉信号对应的第一频率信号和第二频率信号，以及次触觉信号对应的第三频率信号和第四频率信号，生成目标码流，以此通过编码多点触觉信号的方式实现触觉信号编码，而不是逐一编码每个单点触觉信号实现触觉信号编码，提高了触觉信号编码的编码效率。
可选地，所述编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流包括：
所述编码端提取所述第二频率信号对应的第一关键帧和所述第四频率信号对应的第二关键帧；
所述编码端编码所述第一关键帧和所述第二关键帧，生成第一码流；
所述编码端基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；
所述编码端根据所述第一码流、所述第二码流和所述第三码流，生成目标码流。
本实施例中，对于主触觉信号对应的低频信号和次触觉信号对应的低频信号，即第二频率信号和第四频率信号，采用相同的方式进行编码。
具体而言，对第二频率信号进行时域内容分析，并采用局部极值提取算法对第二频率信号进行极值提取，将提取出的极值点按照预设格式保存，得到第一关键帧，进而编码第一关键帧，生成第一码流。可选地，上述预设格式为“时间-幅值”，即保留触觉信号的时间信息和振动幅值信息。应理解，也可以采用其他的方式提取第二频率信号的关键帧，例如，基于频率信号中每个信号帧对应的振动幅值信息，提取关键帧，在此不对提取关键帧的具体方式进行限定，
对第四频率信号进行时域内容分析，并采用局部极值提取算法对第四频率信号进行极值提取，将提取出的极值点按照预设格式保存，得到第二关键 帧，进而编码第二关键帧，生成第二码流。
应理解，也可以采用其他的方式提取频率信号的关键帧，例如，基于频率信号中每个信号帧对应的振动幅值信息，提取关键帧，在此不对提取关键帧的具体方式进行限定，
本实施例中，可以基于第二频率信号和第一关键帧确定第一信号残差，上述第一信号残差为低频信号残差，进而基于第一频率信号和第一信号残差确定第二码流。可以基于第四频率信号和第二关键帧确定第二信号残差，上述第二信号残差为低频信号残差，进而基于第三频率信号和第二信号残差确定第三码流。具体的确定第二码流和第三码流的实施方式，请参阅后续实施例。
在得到第一码流、第二码流和第三码流之后，对上述第一码流、第二码流和第三码流进行混码，生成目标码流。可选地，在得到第一码流、第二码流和第三码流之后，可以通过算数编码器对第一码流、第二码流和第三码流进行无损压缩，得到目标码流。
本申请实施例中，编码第二频率信号对应的第一关键帧、第四频率信号对应的第二关键帧、以及第一频率信号和第三频率信号，生成目标码流，以此通过编码多点触觉信号的方式实现触觉信号编码，提高了触觉信号编码的编码效率。
可选地，所述编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流包括：
所述编码端提取所述第二频率信号对应的第一关键帧，并编码所述第一关键帧，生成第四码流；
所述编码端对所述第四频率信号与所述第二频率信号进行差值运算获得所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成第五码流；
所述编码端基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；
根据所述第二码流、所述第三码流、所述第四码流和所述第五码流，生成目标码流。
本实施例中，对于主触觉信号对应的低频信号即第二频率信号，可以进行时域内容分析，并采用局部极值提取算法对第二频率信号进行极值提取，将提取出的极值点按照预设格式保存，得到第一关键帧，进而编码第一关键帧，生成第四码流，
对于次触觉信号对应的低频信号即第四频率信号，对第四频率信号与第二频率信号进行差值运算，将运算结果的非零部分确定为第二关键帧，进而编码第二关键帧，生成第五码流，
本实施例中，可以基于第二频率信号和第一关键帧确定第一信号残差，上述第一信号残差为低频信号残差，进而基于第一频率信号和第一信号残差确定第二码流。可以基于第四频率信号和第二关键帧确定第二信号残差，上述第二信号残差为低频信号残差，进而基于第三频率信号和第二信号残差确定第三码流。具体的确定第二码流和第三码流的实施方式，请参阅后续实施例。
在得到第二码流、第三码流、第四码流和第五码流之后，对上述第二码流、第三码流、第四码流和第五码流进行混码，生成目标码流。可选地，在得到第二码流、第三码流、第四码流和第五码流之后，可以通过算数编码器对第二码流、第三码流、第四码流和第五码流进行无损压缩，得到目标码流。
本申请实施例中，编码第二频率信号对应的第一关键帧、第四频率信号对应的第二关键帧、以及第一频率信号和第三频率信号，生成目标码流，以此通过编码多点触觉信号的方式实现触觉信号编码，提高了触觉信号编码的编码效率。
可选地，所述编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流包括：
所述编码端编码所述第二频率信号对应的第一关键帧，生成第四码流；
所述编码端编码所述第四频率信号对应的第二关键帧，生成第五码流；
所述编码端基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；
根据所述第二码流、所述第三码流、所述第四码流和所述第五码流，生成目标码流。
本实施例中，可以编码第二频率信号对应的第一关键帧，生成第四码流。具体的如何生成第四码流的技术方案，请参阅后续实施例。编码第四频率信号对应的第二关键帧，生成第五码流。具体的如何生成第五码流的技术方案，请参阅后续实施例。
本实施例中，可以基于第二频率信号和第一关键帧确定第一信号残差，上述第一信号残差为低频信号残差，进而基于第一频率信号和第一信号残差确定第二码流。可以基于第四频率信号和第二关键帧确定第二信号残差，上述第二信号残差为低频信号残差，进而基于第三频率信号和第二信号残差确定第三码流。具体的确定第二码流和第三码流的实施方式，请参阅后续实施例。
在得到第二码流、第三码流、第四码流和第五码流之后，对上述第二码流、第三码流、第四码流和第五码流进行混码，生成目标码流。可选地，在得到第二码流、第三码流、第四码流和第五码流之后，可以通过算数编码器对第二码流、第三码流、第四码流和第五码流进行无损压缩，得到目标码流。
本申请实施例中，编码第二频率信号对应的第一关键帧、第四频率信号对应的第二关键帧、以及第一频率信号和第三频率信号，生成目标码流，以此通过编码多点触觉信号的方式实现触觉信号编码，提高了触觉信号编码的编码效率。
可选地，所述编码所述第二频率信号对应的第一关键帧，生成第四码流包括：
所述编码端在所述第二频率信号对应的主触觉信号为最大主触觉信号的情况下，提取所述第二频率信号对应的第一关键帧，并编码所述第一关键帧生成所述第四码流；
所述编码端在所述第二频率信号对应的主触觉信号不为最大主触觉信号的情况下，对所述第二频率信号与第一目标信号进行差值运算获得所述第二频率信号对应的第一关键帧，并编码所述第一关键帧生成所述第四码流。
如上所述，第二频率信号为主触觉信号对应的低频信号。在N大于1的情况下，区块组对应的N个主触觉信号按照功率从大到小的顺序排序，应理解，上述排序是每个主触觉信号对应的编码顺序的排序。
一种可选地实施方式为，在第二频率信号对应的主触觉信号为最大主触觉信号的情况下，对该第二频率信号进行时域内容分析，并采用局部极值提取算法对第二频率信号进行极值提取，将提取出的极值点按照预设格式保存，得到第一关键帧，进而编码第一关键帧，生成第四码流。其中，上述最大主触觉信号为N个主触觉信号中功率最大的主触觉信号，即最大主触觉信号为N个主触觉信号中排序最前的主触觉信号。
另一种可选地实施方式为，在第二频率信号对应的主触觉信号不为最大主触觉信号的情况下，对第二频率信号与第一目标信号进行差值运算，将运算结果确定为第一关键帧，进而编码第一关键帧，生成第四码流。其中，第一目标信号为目标主触觉信号对应的低频信号，目标主触觉信号为N个主触觉信号中排序在第二频率信号对应的主触觉信号前一位的主触觉信号。
可选地，所述编码所述第四频率信号对应的第二关键帧，生成第五码流包括：
所述编码端对所述第四频率信号与所述第二频率信号进行差值运算获得所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成所述第五码流；或者，
所述编码端提取所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成所述第五码流。
一种可选地实施方式为，对第四频率信号与第二频率信号进行差值运算，将运算结果的非零部分确定为第二关键帧，进而编码第二关键帧，生成第五码流。
另一种可选地实施方式为，对第四频率信号进行时域内容分析，并采用局部极值提取算法对第四频率信号进行极值提取，将提取出的极值点按照预设格式保存，得到第二关键帧，进而编码第二关键帧，生成第五码流。
可选地，所述基于所述第一频率信号和第一信号残差确定第二码流包括：
所述编码端对所述第一关键帧进行插值处理，获得第二目标信号；
所述编码端根据所述第二频率信号和所述第二目标信号，确定第一信号残差；
所述编码端根据所述第一频率信号和所述第一信号残差，确定第三目标 信号；
所述编码端对所述第三目标信号进行小波变换，得到第一小波系数；
所述编码端编码量化处理后的所述第一小波系数，生成所述第二码流。
本实施例中，可以对第一关键帧进行插值处理，获得第二目标信号，上述第二目标信号为低频信号，进而根据第二频率信号和第二目标信号，确定第一信号残差。可选地，上述第一信号残差为第二频率信号减去第二目标信号的差值结果，或者，上述第一信号残差为第二目标信号减去第二频率信号的差值结果。
在得到第一信号残差之后，将第一频率信号与第一信号残差相加，确定第三目标信号，上述第三目标信号为高频信号；对第三目标信号进行分块处理，得到第三目标信号对应的至少一个信号块，可选地，设定信号块的块长度为512，若第三目标信号对应的信号块的块长度不足512，则可以对该信号块进行补0操作，将该信号块的块长度补齐至512。
对第三目标信号对应的每个信号块进行小波变换，得到第一小波系数；对第一小波系数执行量化操作，并对量化处理后的第一小波系数进行编码，生成第二码流。
其中，上述对第一小波系数执行的量化操作可以是，将信号块输入心理感知模型，获取该信号块对应的能量值和信号掩码比，利用上述能量值和信号掩码比对第一小波系数进行量化。
其中，可以使用多级树集合分裂编码(Set Partitioning in Hierarchical Trees，SPIHT)算法对量化处理后的所述第一小波系数进行编码。
可选地，所述基于所述第三频率信号和第二信号残差确定第三码流包括：
所述编码端对所述第二关键帧进行插值处理，获得第四目标信号；
所述编码端根据所述第四频率信号和所述第四目标信号，确定第二信号残差；
所述编码端根据所述第三频率信号和所述第二信号残差，确定第五目标信号；
所述编码端对所述第五目标信号进行小波变换，得到第二小波系数；
所述编码端编码量化处理后的所述第二小波系数，生成所述第三码流。
本实施例中，可以对第二关键帧进行插值处理，获得第四目标信号，上述第四目标信号为低频信号，进而根据第四频率信号和第四目标信号，确定第二信号残差。可选地，上述第二信号残差为第四频率信号减去第四目标信号的差值结果，或者，上述第二信号残差为第四目标信号减去第四频率信号的差值结果。
在得到第二信号残差之后，将第三频率信号与第二信号残差相加，确定第五目标信号，上述第五目标信号为高频信号；对第五目标信号进行分块处理，得到第五目标信号对应的至少一个信号块，可选地，设定信号块的块长度为512，若第五目标信号对应的信号块的块长度不足512，则可以对该信号块进行补0操作，将该信号块的块长度补齐至512。
对第五目标信号对应的每个信号块进行小波变换，得到第二小波系数；对第二小波系数执行量化操作，并对量化处理后的第二小波系数进行编码，生成第三码流。
其中，上述对第二小波系数执行的量化操作可以是，将信号块输入心理感知模型，获取该信号块对应的能量值和信号掩码比，利用上述能量值和信号掩码比对第二小波系数进行量化。
其中，可以使用SPIHT算法对量化处理后的所述第二小波系数进行编码。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的应用于解码端的触觉信号解码方法进行详细地说明。
请参阅图2，图2是本申请实施例提供的触觉信号解码方法的流程图。本实施例提供的触觉信号解码方法包括以下步骤：
S201，解码端获取目标码流。
S202，所述解码端基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号。
需要说明的是，上述所述第一频率信号的频率大于第一阈值，第二频率信号的频率小于或等于第一阈值，第三频率信号的频率大于第二阈值，第四频率信号的频率小于或等于第二阈值。
S203，所述解码端基于所述第一频率信号和所述第二频率信号确定主触觉信号，基于所述第三频率信号和所述第四频率信号确定所述主触觉信号相 关联的次触觉信号。
本申请实施例中，解码端解码目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号，进而基于上述第一频率信号和第二频率信号确定主触觉信号，基于第三频率信号和第四频率信号确定主触觉信号相关联的次触觉信号，使用与编码端对触觉信号进行编码的方式对应的解码方式对目标码流进行解码，得到触觉信号。
可选地，所述目标码流包括第一码流、第二码流和第三码流，基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号包括：
所述解码端对解码所述第一码流得到的第一关键帧进行插值处理获取第二频率信号，对解码所述第一码流得到的第二关键帧进行插值处理获取第四频率信号；
所述解码端解码所述第二码流，确定第一频率信号；
所述解码端解码所述第三码流，确定第三频率信号。
本实施例中，解码端解码第一码流，得到第一关键帧，进而对第一关键帧进行插值处理，获取第二频率信号。
具体的如何解码第二码流确定第一频率信号，以及解码第三码流确定第三频率信号的技术方案，请参阅后续实施例。
可选地，所述目标码流包括第二码流、第三码流、第四码流和第五码流，基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号包括：
所述解码端对解码所述第四码流得到的第一关键帧进行插值处理，获取第二频率信号；
所述解码端基于解码所述第五码流得到的第二关键帧和所述第二频率信号，确定第四频率信号；
所述解码端解码所述第二码流，确定第一频率信号；
所述解码端解码所述第三码流，确定第三频率信号。
本实施例中，解码端解码第四码流，得到第一关键帧，进而对第一关键帧进行插值处理，获取第二频率信号。解码端解码第五码流，得到第二关键 帧，将第二关键帧和第二频率信号相加，得到第四频率信号。
可选地，所述目标码流包括第二码流、第三码流、第四码流和第五码流，基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号包括：
所述解码端基于解码所述第四码流得到的第一关键帧，确定第二频率信号；
所述解码端基于解码所述第五码流得到的第二关键帧，确定第四频率信号；
所述解码端解码所述第二码流，确定第一频率信号；
所述解码端解码所述第三码流，确定第三频率信号。
可选地，所述基于解码所述第四码流得到的第一关键帧，确定第二频率信号包括：
所述解码端解码所述第四码流，得到第一关键帧；
所述解码端在所述第一关键帧对应的主触觉信号为最大主触觉信号的情况下，对所述第一关键帧进行插值处理获取第二频率信号；
所述解码端在N大于1，且所述第一关键帧对应的主触觉信号不为最大主触觉信号的情况下，基于所述第一关键帧和第一目标信号，确定第二频率信号。
一种可选地实施方式为，在第一关键帧对应的主触觉信号为最大主触觉信号的情况下，对第一关键帧进行插值处理获取第二频率信号，其中，最大主触觉信号为N个主触觉信号中功率最大的主触觉信号，N为大于或等于1的正整数。
另一种可选地实施方式为，在第一关键帧对应的主触觉信号不为最大主触觉信号的情况下，将第一关键帧和第一目标信号相加，得到第二频率信号。其中，第一目标信号为目标主触觉信号对应的低频信号，目标主触觉信号为N个主触觉信号中排序在第一关键帧对应的主触觉信号前一位的主触觉信号，应理解，上述排序为主触觉信号对应的解码顺序的排序。
可选地，所述基于解码所述第五码流得到的第二关键帧，确定第四频率信号包括：
所述解码端基于所述第二关键帧和所述第二频率信号，确定第四频率信号；或者，
所述解码端对所述第二关键帧进行插值处理确定第四频率信号。
一种可选地实施方式为，将第二关键帧和第二频率信号相加，得到第四频率信号。
另一种可选地实施方式为，对第二关键帧进行插值处理确定第四频率信号。
可选地，所述解码所述第二码流，确定第一频率信号包括：
所述解码端解码所述第二码流，获得第一小波系数；
所述解码端对反量化处理后的第一小波系数进行逆小波变换，获得第一频率信号。
可选地，上述解码方式可以是使用SPIHT算法对第二码流解码。
可选地，所述解码所述第三码流，确定第三频率信号包括：
所述解码端解码所述第三码流，获得第二小波系数；
所述解码端对反量化处理后的第二小波系数进行逆小波变换，获得第三频率信号。
本实施例中，解码端使用与编码端对触觉信号进行编码的方式对应的解码方式对目标码流进行解码，得到触觉信号，在此不做重复阐述。
本申请实施例提供的触觉信号编码方法，执行主体可以为触觉信号编码装置。本申请实施例中以触觉信号编码装置应用于编码端执行触觉信号编码方法为例，说明本申请实施例提供的触觉信号编码装置。
如图3所示，本申请实施例还提供了一种触觉信号编码装置300，包括：
获取模块301，用于获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；所述N个主触觉信号和每个主触觉信号相关联的次触觉信号基于所述区块组对应的多个触觉信号确定，N为大于或等于1的正整数；
处理模块302，用于对所述N个主触觉信号和每个主触觉信号相关联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；所述 第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
编码模块303，用于编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流。
可选地，所述编码模块303，具体用于：
提取所述第二频率信号对应的第一关键帧和所述第四频率信号对应的第二关键帧；
编码所述第一关键帧和所述第二关键帧，生成第一码流；
基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
根据所述第一码流、所述第二码流和所述第三码流，生成目标码流。
可选地，所述编码模块303，还具体用于：
提取所述第二频率信号对应的第一关键帧，并编码所述第一关键帧，生成第四码流；
对所述第四频率信号与所述第二频率信号进行差值运算获得所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成第五码流；
基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
根据所述第二码流、所述第三码流、所述第四码流和所述第五码流，生成目标码流。
可选地，所述编码模块303，还具体用于：
编码所述第二频率信号对应的第一关键帧，生成第四码流；
编码所述第四频率信号对应的第二关键帧，生成第五码流；
基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频 率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
根据所述第二码流、所述第三码流、所述第四码流和所述第五码流，生成目标码流。
可选地，在N大于1的情况下，所述N个主触觉信号按照功率从大到小的顺序排序，所述编码模块303，还具体用于：
在所述第二频率信号对应的主触觉信号为最大主触觉信号的情况下，提取所述第二频率信号对应的第一关键帧，并编码所述第一关键帧生成所述第四码流；所述最大主触觉信号为所述N个主触觉信号中功率最大的主触觉信号；
在所述第二频率信号对应的主触觉信号不为最大主触觉信号的情况下，对所述第二频率信号与第一目标信号进行差值运算获得所述第二频率信号对应的第一关键帧，并编码所述第一关键帧生成所述第四码流；所述第一目标信号为目标主触觉信号对应的低频信号，所述目标主触觉信号为所述N个主触觉信号中排序在所述第二频率信号对应的主触觉信号前一位的主触觉信号。
可选地，所述编码模块303，还具体用于：
对所述第四频率信号与所述第二频率信号进行差值运算获得所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成所述第五码流；或者，
提取所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成所述第五码流。
可选地，所述编码模块303，还具体用于：
对所述第一关键帧进行插值处理，获得第二目标信号；
根据所述第二频率信号和所述第二目标信号，确定第一信号残差；
根据所述第一频率信号和所述第一信号残差，确定第三目标信号；
对所述第三目标信号进行小波变换，得到第一小波系数；
编码量化处理后的所述第一小波系数，生成所述第二码流。
可选地，所述编码模块303，还具体用于：
对所述第二关键帧进行插值处理，获得第四目标信号；
根据所述第四频率信号和所述第四目标信号，确定第二信号残差；
根据所述第三频率信号和所述第二信号残差，确定第五目标信号；
对所述第五目标信号进行小波变换，得到第二小波系数；
编码量化处理后的所述第二小波系数，生成所述第三码流。
本申请实施例提供的触觉信号解码方法，执行主体可以为触觉信号解码装置。本申请实施例中以触觉信号解码装置应用于解码端执行触觉信号解码方法为例，说明本申请实施例提供的触觉信号解码装置。
如图4所示，本申请实施例还提供了一种触觉信号解码装置400，包括：
获取模块401，用于获取目标码流；
第一确定模块402，用于基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
第二确定模块403，用于基于所述第一频率信号和所述第二频率信号确定主触觉信号，基于所述第三频率信号和所述第四频率信号确定所述主触觉信号相关联的次触觉信号。
可选地，所述目标码流包括第一码流、第二码流和第三码流，所述第一确定模块402，具体用于：
对解码所述第一码流得到的第一关键帧进行插值处理获取第二频率信号，对解码所述第一码流得到的第二关键帧进行插值处理获取第四频率信号；
解码所述第二码流，确定第一频率信号；
解码所述第三码流，确定第三频率信号。
可选地，所述目标码流包括第二码流、第三码流、第四码流和第五码流，所述第一确定模块402，还具体用于：
对解码所述第四码流得到的第一关键帧进行插值处理，获取第二频率信号；
基于解码所述第五码流得到的第二关键帧和所述第二频率信号，确定第四频率信号；
解码所述第二码流，确定第一频率信号；
解码所述第三码流，确定第三频率信号。
可选地，所述目标码流包括第二码流、第三码流、第四码流和第五码流，所述第一确定模块402，还具体用于：
基于解码所述第四码流得到的第一关键帧，确定第二频率信号；
基于解码所述第五码流得到的第二关键帧，确定第四频率信号；
解码所述第二码流，确定第一频率信号；
解码所述第三码流，确定第三频率信号。
可选地，所述第一确定模块402，还具体用于：
解码所述第四码流，得到第一关键帧；
在所述第一关键帧对应的主触觉信号为最大主触觉信号的情况下，对所述第一关键帧进行插值处理获取第二频率信号；所述最大主触觉信号为N个主触觉信号中功率最大的主触觉信号，N为大于或等于1的正整数；
在N大于1，且所述第一关键帧对应的主触觉信号不为最大主触觉信号的情况下，基于所述第一关键帧和第一目标信号，确定第二频率信号；所述第一目标信号为目标主触觉信号对应的低频信号，所述目标主触觉信号为所述N个主触觉信号中排序在所述第一关键帧对应的主触觉信号前一位的主触觉信号。
可选地，所述第一确定模块402，还具体用于：
基于所述第二关键帧和所述第二频率信号，确定第四频率信号；或者，
对所述第二关键帧进行插值处理确定第四频率信号。
可选地，所述第一确定模块402，还具体用于：
解码所述第二码流，获得第一小波系数；
对反量化处理后的第一小波系数进行逆小波变换，获得第一频率信号。
可选地，所述第一确定模块402，还具体用于：
解码所述第三码流，获得第二小波系数；
对反量化处理后的第二小波系数进行逆小波变换，获得第三频率信号。
本申请实施例中，编码主触觉信号对应的第一频率信号和第二频率信号，以及次触觉信号对应的第三频率信号和第四频率信号，生成目标码流，以此 通过编码多点触觉信号的方式实现触觉信号编码，而不是逐一编码每个单点触觉信号实现触觉信号编码，提高了触觉信号编码的编码效率。
本申请实施例提供的应用于编码端的触觉信号编码装置能够实现图1的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例提供的应用于解码端的触觉信号解码装置能够实现图2的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例中的触觉信号编码装置和触觉信号解码装置可以是电子设备，例如具有操作系统的电子设备，也可以是电子设备中的部件、例如集成电路或芯片。该电子设备可以是终端，也可以为除终端之外的其他设备。示例性的，终端可以包括但不限于上述所列举的终端的类型，其他设备可以为服务器、网络附属存储器(Network Attached Storage，NAS)等，本申请实施例不作具体限定。
可选地，如图5所示，本申请实施例还提供一种通信设备500，包括处理器501和存储器502，存储器502上存储有可在所述处理器501上运行的程序或指令，例如，该通信设备500为终端时，该程序或指令被处理器501执行时实现以下操作：
获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；
对所述N个主触觉信号和每个主触觉信号相关联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；
编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流。
或者，处理器501用于执行以下操作：
获取目标码流；
基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号；
基于所述第一频率信号和所述第二频率信号确定主触觉信号，基于所述第三频率信号和所述第四频率信号确定所述主触觉信号相关联的次触觉信号。
该电子设备实施例与方法实施例对应，上述方法实施例的各个实施过程和实现方式均可适用于该电子设备实施例中，且能达到相同的技术效果。
本申请实施例还提供一种终端，具体地，图6为实现本申请实施例的一种终端的硬件结构示意图。
该终端600包括但不限于：射频单元601、网络模块602、音频输出单元603、输入单元604、传感器605、显示单元606、用户输入单元607、接口单元608、存储器609、以及处理器610等部件。
本领域技术人员可以理解，终端600还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器610逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图6中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元604可以包括图形处理器(Graphics Processing Unit，GPU)6041和麦克风6042，图形处理器6041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元606可包括显示面板6061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板6061。用户输入单元607包括触控面板6071以及其他输入设备6072中的至少一种。触控面板6071，也称为触摸屏。触控面板6071可包括触摸检测装置和触摸控制器两个部分。其他输入设备6072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元601接收来自网络侧设备的下行数据后，可以传输给处理器610进行处理；射频单元601可以向网络侧设备发送上行数据。通常，射频单元601包括但不限于天线、放大器、收发信机、耦合器、低噪声放大器、双工器等。
存储器609可用于存储软件程序或指令以及各种数据。存储器609可主要包括存储程序或指令的第一存储区和存储数据的第二存储区，其中，第一 存储区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器609可以包括易失性存储器或非易失性存储器，或者，存储器609可以包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本申请实施例中的存储器609包括但不限于这些和任意其它适合类型的存储器。
处理器610可包括一个或多个处理单元；可选的，处理器610集成应用处理器和调制解调处理器，其中，应用处理器主要处理涉及操作系统、用户界面和应用程序等的操作，调制解调处理器主要处理无线通信信号，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器610中。
其中，处理器610用于执行以下操作：
获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；
对所述N个主触觉信号和每个主触觉信号相关联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；
编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流。
或者，处理器610用于执行以下操作：
获取目标码流；
基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号 和第四频率信号；
基于所述第一频率信号和所述第二频率信号确定主触觉信号，基于所述第三频率信号和所述第四频率信号确定所述主触觉信号相关联的次触觉信号。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述触觉信号编码方法实施例的各个过程，或者实现上述触觉信号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，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述触觉信号编码方法实施例的各个过程，或者实现上述触觉信号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，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。
本申请实施例另提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述触觉信号编码方法实施例的各个过程，或者实现上述触觉信号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，这里不再赘述。
本申请实施例另提供了一种系统，所述系统包括编码端和解码端，所述编码端执行上述应用于编码端的触觉信号编码方法实施例的各个过程，所述解码端执行上述应用于解码端的触觉信号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，这里不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下， 由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (34)

  1. 一种触觉信号编码方法，包括：
    编码端获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；所述N个主触觉信号和每个主触觉信号相关联的次触觉信号基于所述区块组对应的多个触觉信号确定，N为大于或等于1的正整数；
    所述编码端对所述N个主触觉信号和每个主触觉信号相关联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
    所述编码端编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流。
  2. 根据权利要求1所述的方法，其中，所述编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流包括：
    所述编码端提取所述第二频率信号对应的第一关键帧和所述第四频率信号对应的第二关键帧；
    所述编码端编码所述第一关键帧和所述第二关键帧，生成第一码流；
    所述编码端基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
    所述编码端根据所述第一码流、所述第二码流和所述第三码流，生成目标码流。
  3. 根据权利要求1所述的方法，其中，所述编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流包括：
    所述编码端提取所述第二频率信号对应的第一关键帧，并编码所述第一 关键帧，生成第四码流；
    所述编码端对所述第四频率信号与所述第二频率信号进行差值运算获得所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成第五码流；
    所述编码端基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
    根据所述第二码流、所述第三码流、所述第四码流和所述第五码流，生成目标码流。
  4. 根据权利要求1所述的方法，其中，所述编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流包括：
    所述编码端编码所述第二频率信号对应的第一关键帧，生成第四码流；
    所述编码端编码所述第四频率信号对应的第二关键帧，生成第五码流；
    所述编码端基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
    根据所述第二码流、所述第三码流、所述第四码流和所述第五码流，生成目标码流。
  5. 根据权利要求4所述的方法，其中，在N大于1的情况下，所述N个主触觉信号按照功率从大到小的顺序排序，所述编码所述第二频率信号对应的第一关键帧，生成第四码流包括：
    所述编码端在所述第二频率信号对应的主触觉信号为最大主触觉信号的情况下，提取所述第二频率信号对应的第一关键帧，并编码所述第一关键帧生成所述第四码流；所述最大主触觉信号为所述N个主触觉信号中功率最大的主触觉信号；
    所述编码端在所述第二频率信号对应的主触觉信号不为最大主触觉信号的情况下，对所述第二频率信号与第一目标信号进行差值运算获得所述第二 频率信号对应的第一关键帧，并编码所述第一关键帧生成所述第四码流；所述第一目标信号为目标主触觉信号对应的低频信号，所述目标主触觉信号为所述N个主触觉信号中排序在所述第二频率信号对应的主触觉信号前一位的主触觉信号。
  6. 根据权利要求4所述的方法，其中，所述编码所述第四频率信号对应的第二关键帧，生成第五码流包括：
    所述编码端对所述第四频率信号与所述第二频率信号进行差值运算获得所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成所述第五码流；或者，
    所述编码端提取所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成所述第五码流。
  7. 根据权利要求2-6中任一项所述的方法，其中，所述基于所述第一频率信号和第一信号残差确定第二码流包括：
    所述编码端对所述第一关键帧进行插值处理，获得第二目标信号；
    所述编码端根据所述第二频率信号和所述第二目标信号，确定第一信号残差；
    所述编码端根据所述第一频率信号和所述第一信号残差，确定第三目标信号；
    所述编码端对所述第三目标信号进行小波变换，得到第一小波系数；
    所述编码端编码量化处理后的所述第一小波系数，生成所述第二码流。
  8. 根据权利要求2-6中任一项所述的方法，其中，所述基于所述第三频率信号和第二信号残差确定第三码流包括：
    所述编码端对所述第二关键帧进行插值处理，获得第四目标信号；
    所述编码端根据所述第四频率信号和所述第四目标信号，确定第二信号残差；
    所述编码端根据所述第三频率信号和所述第二信号残差，确定第五目标信号；
    所述编码端对所述第五目标信号进行小波变换，得到第二小波系数；
    所述编码端编码量化处理后的所述第二小波系数，生成所述第三码流。
  9. 一种触觉信号解码方法，包括：
    解码端获取目标码流；
    所述解码端基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
    所述解码端基于所述第一频率信号和所述第二频率信号确定主触觉信号，基于所述第三频率信号和所述第四频率信号确定所述主触觉信号相关联的次触觉信号。
  10. 根据权利要求9所述的方法，其中，所述目标码流包括第一码流、第二码流和第三码流，基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号包括：
    所述解码端对解码所述第一码流得到的第一关键帧进行插值处理获取第二频率信号，对解码所述第一码流得到的第二关键帧进行插值处理获取第四频率信号；
    所述解码端解码所述第二码流，确定第一频率信号；
    所述解码端解码所述第三码流，确定第三频率信号。
  11. 根据权利要求9所述的方法，其中，所述目标码流包括第二码流、第三码流、第四码流和第五码流，基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号包括：
    所述解码端对解码所述第四码流得到的第一关键帧进行插值处理，获取第二频率信号；
    所述解码端基于解码所述第五码流得到的第二关键帧和所述第二频率信号，确定第四频率信号；
    所述解码端解码所述第二码流，确定第一频率信号；
    所述解码端解码所述第三码流，确定第三频率信号。
  12. 根据权利要求9所述的方法，其中，所述目标码流包括第二码流、第三码流、第四码流和第五码流，基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号包括：
    所述解码端基于解码所述第四码流得到的第一关键帧，确定第二频率信号；
    所述解码端基于解码所述第五码流得到的第二关键帧，确定第四频率信号；
    所述解码端解码所述第二码流，确定第一频率信号；
    所述解码端解码所述第三码流，确定第三频率信号。
  13. 根据权利要求12所述的方法，其中，所述基于解码所述第四码流得到的第一关键帧，确定第二频率信号包括：
    所述解码端解码所述第四码流，得到第一关键帧；
    所述解码端在所述第一关键帧对应的主触觉信号为最大主触觉信号的情况下，对所述第一关键帧进行插值处理获取第二频率信号；所述最大主触觉信号为N个主触觉信号中功率最大的主触觉信号，N为大于或等于1的正整数；
    所述解码端在N大于1，且所述第一关键帧对应的主触觉信号不为最大主触觉信号的情况下，基于所述第一关键帧和第一目标信号，确定第二频率信号；所述第一目标信号为目标主触觉信号对应的低频信号，所述目标主触觉信号为所述N个主触觉信号中排序在所述第一关键帧对应的主触觉信号前一位的主触觉信号。
  14. 根据权利要求12所述的方法，其中，所述基于解码所述第五码流得到的第二关键帧，确定第四频率信号包括：
    所述解码端基于所述第二关键帧和所述第二频率信号，确定第四频率信号；或者，
    所述解码端对所述第二关键帧进行插值处理确定第四频率信号。
  15. 根据权利要求10-14中任一项所述的方法，其中，所述解码所述第二码流，确定第一频率信号包括：
    所述解码端解码所述第二码流，获得第一小波系数；
    所述解码端对反量化处理后的第一小波系数进行逆小波变换，获得第一频率信号。
  16. 根据权利要求10-14中任一项所述的方法，其中，所述解码所述第三 码流，确定第三频率信号包括：
    所述解码端解码所述第三码流，获得第二小波系数；
    所述解码端对反量化处理后的第二小波系数进行逆小波变换，获得第三频率信号。
  17. 一种触觉信号编码装置，应用于编码端，所述装置包括：
    获取模块，用于获取目标对象的区块组对应的N个主触觉信号和每个主触觉信号相关联的次触觉信号；所述N个主触觉信号和每个主触觉信号相关联的次触觉信号基于所述区块组对应的多个触觉信号确定，N为大于或等于1的正整数；
    处理模块，用于对所述N个主触觉信号和每个主触觉信号相关联的次触觉信号进行频带分解，获得每个主触觉信号对应的第一频率信号和第二频率信号，以及每个次触觉信号对应的第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
    编码模块，用于编码所述第一频率信号、所述第二频率信号、所述第三频率信号和所述第四频率信号，生成目标码流。
  18. 根据权利要求17所述的装置，其中，所述编码模块，具体用于：
    提取所述第二频率信号对应的第一关键帧和所述第四频率信号对应的第二关键帧；
    编码所述第一关键帧和所述第二关键帧，生成第一码流；
    基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
    根据所述第一码流、所述第二码流和所述第三码流，生成目标码流。
  19. 根据权利要求17所述的装置，其中，所述编码模块，还具体用于：
    提取所述第二频率信号对应的第一关键帧，并编码所述第一关键帧，生成第四码流；
    对所述第四频率信号与所述第二频率信号进行差值运算获得所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成第五码流；
    基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
    根据所述第二码流、所述第三码流、所述第四码流和所述第五码流，生成目标码流。
  20. 根据权利要求17所述的装置，其中，所述编码模块，还具体用于：
    编码所述第二频率信号对应的第一关键帧，生成第四码流；
    编码所述第四频率信号对应的第二关键帧，生成第五码流；
    基于所述第一频率信号和第一信号残差确定第二码流，基于所述第三频率信号和第二信号残差确定第三码流；所述第一信号残差基于所述第二频率信号和所述第一关键帧确定，所述第二信号残差基于所述第四频率信号和所述第二关键帧确定；
    根据所述第二码流、所述第三码流、所述第四码流和所述第五码流，生成目标码流。
  21. 根据权利要求20所述的装置，其中，在N大于1的情况下，所述N个主触觉信号按照功率从大到小的顺序排序，所述编码模块，还具体用于：
    在所述第二频率信号对应的主触觉信号为最大主触觉信号的情况下，提取所述第二频率信号对应的第一关键帧，并编码所述第一关键帧生成所述第四码流；所述最大主触觉信号为所述N个主触觉信号中功率最大的主触觉信号；
    在所述第二频率信号对应的主触觉信号不为最大主触觉信号的情况下，对所述第二频率信号与第一目标信号进行差值运算获得所述第二频率信号对应的第一关键帧，并编码所述第一关键帧生成所述第四码流；所述第一目标信号为目标主触觉信号对应的低频信号，所述目标主触觉信号为所述N个主触觉信号中排序在所述第二频率信号对应的主触觉信号前一位的主触觉信号。
  22. 根据权利要求20所述的装置，其中，所述编码模块，还具体用于：
    对所述第四频率信号与所述第二频率信号进行差值运算获得所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成所述第五码流；或者，
    提取所述第四频率信号对应的第二关键帧，并编码所述第二关键帧，生成所述第五码流。
  23. 根据权利要求18-22中任一项所述的装置，其中，所述编码模块，还具体用于：
    对所述第一关键帧进行插值处理，获得第二目标信号；
    根据所述第二频率信号和所述第二目标信号，确定第一信号残差；
    根据所述第一频率信号和所述第一信号残差，确定第三目标信号；
    对所述第三目标信号进行小波变换，得到第一小波系数；
    编码量化处理后的所述第一小波系数，生成所述第二码流。
  24. 根据权利要求18-22中任一项所述的装置，其中，所述编码模块，还具体用于：
    对所述第二关键帧进行插值处理，获得第四目标信号；
    根据所述第四频率信号和所述第四目标信号，确定第二信号残差；
    根据所述第三频率信号和所述第二信号残差，确定第五目标信号；
    对所述第五目标信号进行小波变换，得到第二小波系数；
    编码量化处理后的所述第二小波系数，生成所述第三码流。
  25. 一种触觉信号解码装置，应用于解码端，所述装置包括：
    获取模块，用于获取目标码流；
    第一确定模块，用于基于所述目标码流，确定第一频率信号、第二频率信号、第三频率信号和第四频率信号；所述第一频率信号的频率大于第一阈值，所述第二频率信号的频率小于或等于第一阈值，所述第三频率信号的频率大于第二阈值，所述第四频率信号的频率小于或等于第二阈值；
    第二确定模块，用于基于所述第一频率信号和所述第二频率信号确定主触觉信号，基于所述第三频率信号和所述第四频率信号确定所述主触觉信号相关联的次触觉信号。
  26. 根据权利要求25所述的装置，其中，所述目标码流包括第一码流、第 二码流和第三码流，所述第一确定模块，具体用于：
    对解码所述第一码流得到的第一关键帧进行插值处理获取第二频率信号，对解码所述第一码流得到的第二关键帧进行插值处理获取第四频率信号；
    解码所述第二码流，确定第一频率信号；
    解码所述第三码流，确定第三频率信号。
  27. 根据权利要求25所述的装置，其中，所述目标码流包括第二码流、第三码流、第四码流和第五码流，所述第一确定模块，还具体用于：
    对解码所述第四码流得到的第一关键帧进行插值处理，获取第二频率信号；
    基于解码所述第五码流得到的第二关键帧和所述第二频率信号，确定第四频率信号；
    解码所述第二码流，确定第一频率信号；
    解码所述第三码流，确定第三频率信号。
  28. 根据权利要求25所述的装置，其中，所述目标码流包括第二码流、第三码流、第四码流和第五码流，所述第一确定模块，还具体用于：
    基于解码所述第四码流得到的第一关键帧，确定第二频率信号；
    基于解码所述第五码流得到的第二关键帧，确定第四频率信号；
    解码所述第二码流，确定第一频率信号；
    解码所述第三码流，确定第三频率信号。
  29. 根据权利要求28所述的装置，其中，所述第一确定模块，还具体用于：
    解码所述第四码流，得到第一关键帧；
    在所述第一关键帧对应的主触觉信号为最大主触觉信号的情况下，对所述第一关键帧进行插值处理获取第二频率信号；所述最大主触觉信号为N个主触觉信号中功率最大的主触觉信号，N为大于或等于1的正整数；
    在N大于1，且所述第一关键帧对应的主触觉信号不为最大主触觉信号的情况下，基于所述第一关键帧和第一目标信号，确定第二频率信号；所述第一目标信号为目标主触觉信号对应的低频信号，所述目标主触觉信号为所述N个主触觉信号中排序在所述第一关键帧对应的主触觉信号前一位的主触 觉信号。
  30. 根据权利要求28所述的装置，其中，所述第一确定模块，还具体用于：
    基于所述第二关键帧和所述第二频率信号，确定第四频率信号；或者，
    对所述第二关键帧进行插值处理确定第四频率信号。
  31. 根据权利要求26-30中任一项所述的装置，其中，所述第一确定模块，还具体用于：
    解码所述第二码流，获得第一小波系数；
    对反量化处理后的第一小波系数进行逆小波变换，获得第一频率信号。
  32. 根据权利要求26-30中任一项所述的装置，其中，所述第一确定模块，还具体用于：
    解码所述第三码流，获得第二小波系数；
    对反量化处理后的第二小波系数进行逆小波变换，获得第三频率信号。
  33. 一种终端，包括处理器和存储器，其中，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1-8中任一项所述的触觉信号编码方法的步骤，或者实现如权利要求9-16中任一项所述的触觉信号解码方法的步骤。
  34. 一种可读存储介质，所述可读存储介质上存储程序或指令，其中，所述程序或指令被处理器执行时实现如权利要求1-8中任一项所述的触觉信号编码方法的步骤，或者实现如权利要求9-16中任一项所述的触觉信号解码方法的步骤。
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CN114995638A (zh) * 2022-05-12 2022-09-02 北京有竹居网络技术有限公司 触觉信号生成方法、装置、可读介质及电子设备
CN115171709A (zh) * 2022-09-05 2022-10-11 腾讯科技（深圳）有限公司 语音编码、解码方法、装置、计算机设备和存储介质

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