Residual coding for geometry point cloud compression

A method of encoding point cloud data, the method comprising:

• obtaining the point cloud data;
• and
• encoding the point cloud data, wherein encoding the point cloud data comprises generating a bitstream that complies with one or more constraints, wherein the one or more constraints include a constraint that limits the first component of the attribute of the point, the residual value of the first component of the attribute of the point, the second component of the attribute, and the residual value of the second component of the attribute of the point to one or more predefined bitdepths, wherein generating the bitstream comprises:
• determining a residual value of a first component of an attribute of a point;
• clipping the residual value of the first component to one of the one or more predefined bitdepths;
• generating a predicted value of a second component of the attribute of the point;
• and
• reconstructing the second component of the attribute of the point as a sum of the predicted value of the second component of the attribute of the point and a multiplication product of a scale factor for the second component of the attribute of the point and the clipped residual value of the first component of the attribute of the point.

A device comprising:

• a memory configured to store point cloud data;
• and
• one or more processors coupled to the memory and implemented in circuitry, the one or more processors configured to:
• obtain a bitstream that was encoded to comply with one or more constraints, wherein the one or more constraints include a constraint that limits the first component of the attribute of the point, the residual value of the first component of the attribute of the point, the second component of the attribute, and the residual value of the second component of the attribute of the point to one or more predefined bitdepths;
• and
• decode the bitstream, wherein the one or more processors are configured to, as part of decoding the bitstream:
• determine, based on data signaled in the bitstream, a residual value of a first component of an attribute of a point of the point cloud data;
• clip the residual value of the first component to one of the one or more predefined bitdepths;
• generate a predicted value of a second component of the attribute of the point;
• and
• reconstruct the second component as a sum of the predicted value of the second component of the attribute of the point and a multiplication product of a scale factor for the second component of the attribute of the point and the clipped residual value of the first component of the attribute of the point.

A device comprising:

• a memory configured to store point cloud data;
• and
• one or more processors coupled to the memory and implemented in circuitry, the one or more processors configured to encode the point cloud data, wherein the one or more processors are configured to, as part of encoding the point cloud data, generate a bitstream that complies with one or more constraints, wherein the one or more constraints include a constraint that limits the first component of the attribute of the point, the residual value of the first component of the attribute of the point, the second component of the attribute, and the residual value of the second component of the attribute of the point to one or more predefined bitdepths, wherein the one or more processors are configured, to, as part of generating the bitstream:
• determine a residual value of a first component of an attribute of a point;
• clip the residual value of the first component to one of the one or more predefined bitdepths;
• generate a predicted value of a second component of the attribute of the point;
• and
• reconstruct the second component of the attribute of the point as a sum of the predicted value of the second component of the attribute of the point and a multiplication product of a scale factor for the second component of the attribute of the point and the clipped residual value of the first component of the attribute of the point.

A device comprising:

• means for obtaining a bitstream that was encoded to comply with one or more constraints, wherein the one or more constraints include a constraint that limits the first component of the attribute of the point, the residual value of the first component of the attribute of the point, the second component of the attribute, and the residual value of the second component of the attribute of the point to one or more predefined bitdepths;
• and
• means for decoding the bitstream, wherein the means for decoding the bitstream comprises:
• means for determining, based on data signaled in the bitstream, a residual value of a first component of an attribute of a point of point cloud data;
• means for clipping the residual value of the first component of the attribute of the point to one of the one or more predefined bitdepths;
• means for generating a predicted value of a second component of the attribute of the point;
• and
• means for reconstructing the second component of the attribute of the point as a sum of the predicted value of the second component of the attribute of the point and a multiplication product of a scale factor for the second component of the attribute of the point and the residual value of the first component of the attribute of the point.

A device comprising:

• means for obtaining point cloud data;
• and
• means for encoding the point cloud data, wherein the means for encoding the point cloud data comprises means for generating a bitstream that complies with one or more constraints, wherein the one or more constraints include a constraint that limits the first component of the attribute of the point the residual value of the first component of the attribute of the point, the second component of the attribute, and the residual value of the second component of the attribute of the point to one or more predefined bitdepths, wherein the means for generating the bitstream comprises:
• means for determining a residual value of a first component of an attribute of a point;
• means for clipping the residual value of the first component to one of the one or more predefined bitdepths;
• means for generating a predicted value of a second component of the attribute of the point;
• and
• means for reconstructing the second component of the attribute of the point as a sum of the predicted value of the second component of the attribute of the point and a multiplication product of a scale factor for the second component of the attribute of the point and the means for clipping the residual value of the first component of the attribute of the point.

A non-transitory computer-readable data storage medium having stored thereon instructions that, when executed, cause one or more processors to:

• obtain a bitstream that was encoded to comply with one or more constraints,
• wherein the one or more constraints include a constraint that limits the first component of the attribute of the point, the residual value of the first component of the attribute of the point, the second component of the attribute, and the residual value of the second component of the attribute of the point to one or more predefined bitdepths;
• and
• decode the bitstream, wherein the instructions that cause the one or more processors to decode the bitstream comprise instructions that, when executed, cause the one or more processors to:
• determine, based on data signaled in the bitstream, a residual value of a first component of an attribute of a point of point cloud data;
• clip the residual value of the first component to one of the one or more predefined bitdepths;
• generate a predicted value of a second component of the attribute of the point;
• and
• reconstruct the second component of the attribute of the point as a sum of the predicted value of the second component of the attribute of the point and a multiplication product of a scale factor for the second component of the attribute of the point and the clipped residual value of the first component of the attribute of the point.

A non-transitory computer-readable data storage medium having stored thereon instructions that, when executed, cause one or more processors to:

• obtain point cloud data;
• and
• encode the point cloud data, wherein the instructions that cause the one or more processors to encode the point cloud data comprises instructions that, when executed, cause the one or more processors to generate a bitstream that complies with one or more constraints, wherein the one or more constraints include a constraint that limits the first component of the attribute of the point, the residual value of the first component of the attribute of the point, the second component of the attribute, and the residual value of the second component of the attribute of the point to one or more predefined bitdepths, wherein the instructions that cause the one or more processors to generate the bitstream comprise instructions that, when executed, cause the one or more processors to:
• determine a residual value of a first component of an attribute of a point;
• clip the residual value of the first component to one of the one or more predefined bitdepths;
• generate a predicted value of a second component of the attribute of the point;
• and
• reconstruct the second component of the attribute of the point as a sum of the predicted value of the second component of the attribute of the point and a multiplication product of a scale factor for the second component of the attribute of the point and the clipped residual value of the first component of the attribute of the point.