WO2024099154A1

WO2024099154A1 - Tactile signal encoding method and apparatus, tactile signal decoding method and apparatus, and device

Info

Publication number: WO2024099154A1
Application number: PCT/CN2023/128016
Authority: WO
Inventors: 吕卓逸; 蔺虎虎; 何大众
Original assignee: 维沃移动通信有限公司
Priority date: 2022-11-08
Filing date: 2023-10-31
Publication date: 2024-05-16
Also published as: CN118018745A

Abstract

The present application relates to the technical field of encoding and decoding, and provides a tactile signal encoding method and apparatus, a tactile signal decoding method and apparatus, and a device. The tactile signal encoding method comprises: acquiring N primary tactile signals corresponding to a block group of a target object and a secondary tactile signal associated with each primary tactile signal; performing frequency band decomposition on the N primary tactile signals and the secondary tactile signal associated with each primary tactile signal to obtain a first frequency signal and a second frequency signal corresponding to each primary tactile signal, and a third frequency signal and a fourth frequency signal corresponding to each secondary tactile signal; and encoding the first frequency signals, the second frequency signals, the third frequency signals and the fourth frequency signals to generate a target code stream.

Description

Tactile signal encoding method, tactile signal decoding method, device and equipment

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No. 202211394128.1 filed in China on November 8, 2022, the entire contents of which are incorporated herein by reference.

Technical Field

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.

Background technique

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. In some technical fields, such as virtual reality technology or autonomous driving technology, 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.

In the related art, tactile signal compression can be achieved through tactile signal encoding. Specifically, 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.

Summary of the invention

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.

In a first aspect, a tactile signal encoding method is provided, 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.

In a second aspect, a tactile signal decoding method is provided, 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.

In a third aspect, a tactile signal encoding device is provided, 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.

In a fourth aspect, a tactile signal decoding device is provided, 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.

In a fifth aspect, a terminal is provided, 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.

In a sixth aspect, a readable storage medium is provided, on which a program or instruction is stored. When 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.

In the seventh aspect, a chip is provided, 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.

In an eighth 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.

In a ninth aspect, a system is provided, 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.

In the embodiment of the present application, 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. In the embodiment of the present application, 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.

BRIEF DESCRIPTION OF THE DRAWINGS

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.

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

The terms "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. For example, the first object can be one or more. In addition, "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.

In the related art, the target object includes multiple blocks. For example, the target object can be a person. The human body is divided into multiple blocks, and each block is labeled. For example, number 1: front of the head; number 2: back of the head; number 3: right side of the head; number 4: left side of the head; number 5: right upper chest; number 6: left upper chest; number 7: abdomen; number 8: waist; number 9: upper back; number 10: lower back; number 11: right upper arm; number 12: left upper arm; number 13: right forearm; number 14: left forearm; number 15: right wrist; number 16: left wrist =The first part of the foot is marked with a circle; number 17: right palm; number 18: left palm; number 19: back of right hand; number 20: back of left hand; number 21: right fingers; number 22: left fingers; number 23: right thigh; number 24: left thigh; number 25: right calf; number 26: left calf; number 27: right sole; number 28: left sole; number 29: right instep; number 30: left instep; number 31: right toes; number 32: left toes.

Optionally, 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. For example, 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.

In the embodiment of the present application, 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.

The tactile signal encoding method applied to the encoding end provided in the embodiment of the present application is described in detail below through some embodiments and application scenarios in combination with the accompanying drawings.

Please refer to FIG1 , which 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:

S101 : 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.

As described above, 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.

In this step, each spatial position in the block group of the target object corresponds to a tactile signal, and 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. It should be noted that one main tactile signal is associated with at least one secondary tactile signal, and one secondary tactile signal can be associated with one main tactile signal. Alternatively, one secondary haptic signal may be associated with multiple primary haptic signals.

In an optional implementation, 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.

Another optional implementation is that 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.

Another optional implementation is that 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.

S102: 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.

In this step, 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, and 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.

Optionally, 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.

S103: 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.

In this step, after obtaining the first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency 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. For specific implementation methods, please refer to the subsequent embodiments.

In an embodiment of the present application, 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.

Optionally, 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.

In this embodiment, the low-frequency signal corresponding to the primary tactile signal and the low-frequency signal corresponding to the secondary tactile signal, ie, the second frequency signal and the fourth frequency signal, are encoded in the same manner.

Specifically, 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. Optionally, the above preset format is "time-amplitude", that is, the time information and vibration amplitude information of the tactile signal are retained. It should be understood that 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.

It should be understood that other methods may be used to extract key frames of the frequency signal. For example, 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.

In this embodiment, 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. For specific implementation methods for determining the second code stream and the third code stream, please refer to the subsequent embodiments.

After obtaining the first code stream, the second code stream and the third code stream, the first code stream, the second code stream and the third code stream are mixed to generate a target code stream. Optionally, after obtaining the first code stream, the second code stream and the third 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.

In an embodiment of the present application, 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.

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;

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.

In this embodiment, for the low-frequency signal corresponding to the main tactile signal, that is, the second frequency signal, 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.

For the low-frequency signal corresponding to the secondary tactile signal, that is, the fourth frequency signal, 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.

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. Optionally, 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 can be losslessly compressed by an arithmetic encoder to obtain a target code stream.

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;

In this embodiment, the first key frame corresponding to the second frequency signal can be encoded to generate a fourth code stream. For a specific technical solution on how to generate the fourth code stream, please refer to the subsequent embodiments. The second key frame corresponding to the fourth frequency signal is encoded to generate a fifth code stream. For a specific technical solution on how to generate the fifth code stream, please refer to the subsequent embodiments.

Optionally, 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;

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.

As described above, the second frequency signal is a low frequency signal corresponding to the main tactile signal. When 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, and 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.

Optionally, 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.

Optionally, 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.

In this embodiment, 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. Optionally, 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.

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. Optionally, 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.

Perform wavelet transform on each signal block corresponding to the third target signal to obtain first wavelet coefficients; perform quantization on the first wavelet coefficients, and encode the quantized first wavelet coefficients to generate a second code stream.

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.

Among them, the first wavelet coefficients after quantization processing can be encoded using the Set Partitioning in Hierarchical Trees (SPIHT) algorithm.

Optionally, 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.

In this embodiment, 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. Optionally, 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.

After obtaining the second signal residual, add 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. Optionally, 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.

Perform wavelet transform on each signal block corresponding to the fifth target signal to obtain second wavelet coefficients; perform quantization on the second wavelet coefficients, and encode the quantized second wavelet coefficients to generate a third code stream.

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.

The tactile signal decoding method applied to the decoding end provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through some embodiments and their application scenarios.

Please refer to FIG. 2 , which 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:

S201, the decoding end obtains the target bit stream.

S202: 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.

It should be noted that 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, and the frequency of the fourth frequency signal is less than or equal to the second threshold.

S203, 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.

In an embodiment of the present application, 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.

Optionally, 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.

In this embodiment, 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.

For specific technical solutions on how to decode the second code stream to determine the first frequency signal, and decode the third code stream to determine the third frequency signal, please refer to the subsequent embodiments.

Optionally, 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;

In this embodiment, 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 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;

Optionally, 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, and 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.

Optionally, 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.

Optionally, 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.

Optionally, the above decoding method may be to use a SPIHT algorithm to decode the second code stream.

Optionally, 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.

In this embodiment, 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. In the embodiment of the present application, 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.

As shown in FIG3 , 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, and 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.

Optionally, the encoding module 303 is specifically configured to:

Extracting a first key frame corresponding to the second frequency signal and a second key frame corresponding to the fourth frequency signal;

Encoding the first key frame and the second key frame to generate a first bitstream;

Determine a second code stream based on the first frequency signal and the first signal residual, and determine a third code stream based on the third frequency signal and the second signal residual; 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 first code stream, the second code stream and the third code stream.

Optionally, the encoding module 303 is further specifically configured to:

extracting a first key frame corresponding to the second frequency signal, and encoding the first key frame to generate a fourth bit stream;

performing 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 encoding the second key frame to generate a fifth bit stream;

Optionally, the encoding module 303 is further specifically configured to:

encoding a first key frame corresponding to the second frequency signal to generate a fourth bit stream;

Encoding a second key frame corresponding to the fourth frequency signal to generate a fifth bit stream;

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;

Optionally, when N is greater than 1, the N main tactile signals are sorted in descending order of power, and the encoding module 303 is further specifically configured to:

When 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;

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 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, and 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.

Optionally, the encoding module 303 is further specifically configured to:

performing 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 encoding the second key frame to generate the fifth bit stream; or,

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.

Optionally, the encoding module 303 is further specifically configured to:

Performing interpolation processing on the first key frame to obtain a second target signal;

Determining a first signal residual according to the second frequency signal and the second target signal;

Determining a third target signal according to the first frequency signal and the first signal residual;

Performing wavelet transform on the third target signal to obtain first wavelet coefficients;

The first wavelet coefficients after quantization are encoded to generate the second code stream.

Optionally, the encoding module 303 is further specifically configured to:

performing interpolation processing on the second key frame to obtain a fourth target signal;

Determining a second signal residual according to the fourth frequency signal and the fourth target signal;

Determining a fifth target signal according to the third frequency signal and the second signal residual;

Performing wavelet transform on the fifth target signal to obtain second wavelet coefficients;

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. In the embodiment of the present application, 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.

As shown in FIG. 4 , 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.

Optionally, the target code stream includes a first code stream, a second code stream and a third code stream, and the first determining module 402 is specifically configured to:

Performing interpolation processing on a first key frame obtained by decoding the first code stream to obtain a second frequency signal, and performing interpolation processing on a second key frame obtained by decoding the first code stream to obtain a fourth frequency signal;

Decoding the second code stream to determine a first frequency signal;

The third code stream is decoded to determine a third frequency signal.

Optionally, the target code stream includes a second code stream, a third code stream, a fourth code stream and a fifth code stream, and the first determining module 402 is further specifically configured to:

Performing interpolation processing on the first key frame obtained by decoding the fourth bit stream to obtain a second frequency signal;

Determine a fourth frequency signal based on a second key frame and the second frequency signal obtained by decoding the fifth bitstream;

Decoding the second code stream to determine a first frequency signal;

The third code stream is decoded to determine a third frequency signal.

Determining a second frequency signal based on a first key frame obtained by decoding the fourth bit stream;

Determining a fourth frequency signal based on a second key frame obtained by decoding the fifth bit stream;

Decoding the second code stream to determine a first frequency signal;

The third code stream is decoded to determine a third frequency signal.

Optionally, the first determining module 402 is further specifically configured to:

Decoding the fourth bit stream to obtain a first key frame;

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; 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;

When N is greater than 1 and the main tactile signal corresponding to the first key frame is not the maximum main tactile signal, 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.

determining a fourth frequency signal based on the second key frame and the second frequency signal; or,

An interpolation process is performed on the second key frame to determine a fourth frequency signal.

Decoding the second code stream to obtain first wavelet coefficients;

An inverse wavelet transform is performed on the first wavelet coefficient after the inverse quantization process to obtain a first frequency signal.

Decoding the third code stream to obtain second wavelet coefficients;

The inverse wavelet transform is performed on the second wavelet coefficients after the inverse quantization process to obtain a third frequency signal.

In the embodiment of the present application, 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. Exemplarily, 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.

Optionally, as shown in FIG. 5 , 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. For example, when the communication device 500 is a terminal, the program or instruction is executed by the processor 501 to implement the following operations:

Acquire N primary tactile signals corresponding to the block group of the target object and secondary tactile signals associated with each primary tactile signal;

Performing 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 first frequency signal, the second frequency signal, the third frequency signal and the fourth frequency signal are encoded to generate a target code stream.

Alternatively, the processor 501 is configured to perform the following operations:

Get the target code stream;

Based on the target code stream, determining a first frequency signal, a second frequency signal, a third frequency signal and a fourth frequency signal;

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.

The embodiment of the present application further provides a terminal. Specifically, 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.

Those skilled in the art will appreciate that 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. 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.

It should be understood that in the embodiment of the present application, 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.

In the embodiment of the present application, after receiving downlink data from the network side device, the RF unit 601 can transmit the data to the processor 610 for processing; the RF unit 601 can send uplink data to the network side device. Generally, 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. In addition, 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. Among them, 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:

Alternatively, the processor 610 is configured to perform the following operations:

Get the target code stream;

Based on the target code stream, determine the first frequency signal, the second frequency signal, and the third frequency signal and a fourth frequency signal;

An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, 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.

It should be understood that 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, and 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.

It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, An element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, 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.

The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

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 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 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 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 method according to claim 1, wherein encoding the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal to generate a target code stream comprises:

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 bitstream;

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 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;

The encoding end generates a target bitstream according to the first bitstream, the second bitstream and the third bitstream.
The method according to claim 1, wherein encoding the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal to generate a target code stream comprises:

The encoding end extracts the first key frame corresponding to the second frequency signal and encodes the first Key frame, generate the fourth code 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; 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 method according to claim 1, wherein encoding the first frequency signal, the second frequency signal, the third frequency signal, and the fourth frequency signal to generate a target code stream comprises:

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; 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 method according to claim 4, wherein, when N is greater than 1, the N main tactile signals are sorted in order of power from large to small, and the encoding of the first key frame corresponding to the second frequency signal to generate the fourth bit stream comprises:

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 a maximum main tactile signal; the maximum main tactile signal is a main tactile signal with the largest power among the N main tactile signals;

The encoding end performs a difference operation on the second frequency signal and the first target signal to obtain the second frequency signal when the main tactile signal corresponding to the second frequency signal is not the maximum main tactile signal. The first target signal is a low-frequency signal corresponding to a 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 second frequency signal among the N main tactile signals.
The method according to claim 4, wherein encoding the second key frame corresponding to the fourth frequency signal to generate the fifth bitstream comprises:

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 code stream.
The method according to any one of claims 2 to 6, wherein determining the second code stream based on the first frequency signal and the first signal residual comprises:

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 signal according to the first frequency signal and the first signal residual;

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 method according to any one of claims 2 to 6, wherein determining the third code stream based on the third frequency signal and the second signal residual comprises:

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.
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.
The method according to claim 9, wherein 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 comprises:

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 method according to claim 9, wherein 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 comprises:

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 method according to claim 9, wherein 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 comprises:

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.
The method according to claim 12, wherein determining the second frequency signal based on the first key frame obtained by decoding the fourth bit stream comprises:

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 a maximum main tactile 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;

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; 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 method according to claim 12, wherein determining the fourth frequency signal based on the second key frame obtained by decoding the fifth bit stream comprises:

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.
The method according to any one of claims 10 to 14, wherein the decoding of the second code stream and determining the first frequency signal comprises:

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 method according to any one of claims 10 to 14, wherein the decoding of the third The code stream determines that 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.
A tactile signal encoding device, applied to an encoding end, comprising:

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;

The encoding module 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 device according to claim 17, wherein the encoding module is specifically used to:

Extracting a first key frame corresponding to the second frequency signal and a second key frame corresponding to the fourth frequency signal;

Encoding the first key frame and the second key frame to generate a first bitstream;

Determine a second code stream based on the first frequency signal and the first signal residual, and determine a third code stream based on the third frequency signal and the second signal residual; 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 first code stream, the second code stream and the third code stream.
The apparatus according to claim 17, wherein the encoding module is further specifically configured to:

extracting a first key frame corresponding to the second frequency signal, and encoding the first key frame to generate a fourth bit stream;

performing 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 encoding the second key frame to generate a fifth bit stream;

Determine a second code stream based on the first frequency signal and the first signal residual, and determine a third code stream based on the third frequency signal and the second signal residual; 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 apparatus according to claim 17, wherein the encoding module is further specifically configured to:

encoding a first key frame corresponding to the second frequency signal to generate a fourth bit stream;

Encoding a second key frame corresponding to the fourth frequency signal to generate a fifth bit stream;

Determine a second code stream based on the first frequency signal and the first signal residual, and determine a third code stream based on the third frequency signal and the second signal residual; 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 device according to claim 20, wherein, when N is greater than 1, the N main tactile signals are sorted in order of power from large to small, and the encoding module is further specifically used to:

When 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;

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 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, and 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 apparatus according to claim 20, wherein the encoding module is further specifically configured to:

performing 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 encoding the second key frame to generate the fifth bit stream; or,

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 device according to any one of claims 18 to 22, wherein the encoding module is further specifically used for:

Performing interpolation processing on the first key frame to obtain a second target signal;

Determining a first signal residual according to the second frequency signal and the second target signal;

Determining a third target signal according to the first frequency signal and the first signal residual;

Performing wavelet transform on the third target signal to obtain first wavelet coefficients;

The first wavelet coefficients after quantization are encoded to generate the second code stream.
The device according to any one of claims 18 to 22, wherein the encoding module is further specifically used for:

performing interpolation processing on the second key frame to obtain a fourth target signal;

Determining a second signal residual according to the fourth frequency signal and the fourth target signal;

Determining a fifth target signal according to the third frequency signal and the second signal residual;

Performing wavelet transform on the fifth target signal to obtain second wavelet coefficients;

The second wavelet coefficients after quantization are encoded to generate the third code stream.
A tactile signal decoding device, applied to a decoding end, comprising:

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.
The device according to claim 25, wherein the target code stream comprises a first code stream, a second code stream, The second code stream and the third code stream, the first determining module is specifically used to:

Performing interpolation processing on a first key frame obtained by decoding the first code stream to obtain a second frequency signal, and performing interpolation processing on a second key frame obtained by decoding the first code stream to obtain a fourth frequency signal;

Decoding the second code stream to determine a first frequency signal;

The third code stream is decoded to determine a third frequency signal.
The apparatus according to claim 25, wherein the target code stream includes a second code stream, a third code stream, a fourth code stream, and a fifth code stream, and the first determining module is further specifically configured to:

Performing interpolation processing on the first key frame obtained by decoding the fourth bit stream to obtain a second frequency signal;

Determine a fourth frequency signal based on a second key frame and the second frequency signal obtained by decoding the fifth code stream;

Decoding the second code stream to determine a first frequency signal;

The third code stream is decoded to determine a third frequency signal.
The apparatus according to claim 25, wherein the target code stream includes a second code stream, a third code stream, a fourth code stream, and a fifth code stream, and the first determining module is further specifically configured to:

Determining a second frequency signal based on a first key frame obtained by decoding the fourth bit stream;

Determining a fourth frequency signal based on a second key frame obtained by decoding the fifth bit stream;

Decoding the second code stream to determine a first frequency signal;

The third code stream is decoded to determine a third frequency signal.
The apparatus according to claim 28, wherein the first determining module is further specifically configured to:

Decoding the fourth bit stream to obtain a first key frame;

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; 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;

When N is greater than 1 and the main tactile signal corresponding to the first key frame is not the maximum main tactile signal, 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 ranked before the main tactile signal corresponding to the first key frame among the N main tactile signals. Feel the signal.
The apparatus according to claim 28, wherein the first determining module is further specifically configured to:

determining a fourth frequency signal based on the second key frame and the second frequency signal; or,

An interpolation process is performed on the second key frame to determine a fourth frequency signal.
The apparatus according to any one of claims 26 to 30, wherein the first determining module is further specifically configured to:

Decoding the second code stream to obtain first wavelet coefficients;

An inverse wavelet transform is performed on the first wavelet coefficient after the inverse quantization process to obtain a first frequency signal.
The apparatus according to any one of claims 26 to 30, wherein the first determining module is further specifically configured to:

Decoding the third code stream to obtain second wavelet coefficients;

The inverse wavelet transform is performed on the second wavelet coefficients after the inverse quantization process to obtain a third frequency signal.
A terminal comprises 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 tactile signal encoding method described in any one of claims 1 to 8 are implemented, or the steps of the tactile signal decoding method described in any one of claims 9 to 16 are implemented.
A readable storage medium storing a program or instruction, wherein when the program or instruction is executed by a processor, the program or instruction implements the steps of the tactile signal encoding method as described in any one of claims 1 to 8, or implements the steps of the tactile signal decoding method as described in any one of claims 9 to 16.