Point cloud data encoding method, point cloud data decoding method, point cloud data processing method, apparatuses, electronic device, computer program product, and computer-readable storage medium

A point cloud data decoding method, performed by an electronic device, the method comprising:

• acquiring a point cloud data bitstream to be decoded;
• determining starting position information corresponding to a space-filling curve that corresponds to the point cloud data bitstream to be decoded;
• determining residual information corresponding to the point cloud data bitstream to be decoded;
• and
• reconstructing the point cloud data bitstream to be decoded based on the starting position information corresponding to the space-filling curve and the residual information,
• wherein an order of the space-filling curve is m-order, wherein m is an integer greater than or equal to 1,
• wherein the reconstructing the point cloud data bitstream comprises:
• determining a prediction process matched with a point cloud data processing environment, based on a filling mode being processing with at least two types of space-filling curves;
• and
• reconstructing the point cloud data bitstream to be decoded based on the determined prediction process, and
• wherein the starting position information is based on:
• an origin of a space coordinate system corresponding to a space grid structure corresponding to the point cloud data bitstream, or
• a coordinate point corresponding to a lower left corner coordinate of a starting bounding box corresponding to the point cloud data bitstream.

A point cloud data processing method, performed by an electronic device, the method comprising:

• acquiring initial point cloud data in a point cloud data processing environment;
• determining a space grid structure corresponding to the initial point cloud data;
• determining a filling order of different point cloud points in the initial point cloud data in the space grid structure;
• determining, based on the filling order of the different point cloud points, residual information matched with the initial point cloud data;
• encoding, according to the residual information, the initial point cloud data to obtain target point cloud data,
• wherein the determining the filling order comprises:
• determining an order of a first space-filling curve based on a number of division child nodes;
• determining a filling mode based on the order of the first space-filling curve;
• and
• determining a first filling order matched with the filling mode,
• wherein the order of the first space-filling curve is m-order, wherein m is an integer greater than or equal to 1,
• wherein the determining the first filling order comprises:
• respectively processing corresponding division child nodes with at least two types of space-filling curves, based on the filling mode being processing with the at least two types of space-filling curves, and determining positions, corresponding to the different point cloud points, in a corresponding space-filling curve;
• and
• sorting the positions, corresponding to the different point cloud points, in the corresponding space-filling curve, and determining a second filling order, matched with the filling mode, of the different point cloud points,
• wherein the method further comprises, prior to the determining the filling order:
• determining a filling starting point in the space grid structure based on an origin of a space coordinate system corresponding to the space grid structure, or
• determining the filling starting point based on a coordinate point corresponding to a lower left corner coordinate of a starting bounding box corresponding to the initial point cloud data,
• wherein the filling starting point is a first filling point corresponding to the filling order, and
• wherein the method further comprises:
• acquiring a point cloud data bitstream to be decoded;
• determining starting position information corresponding to a second space-filling curve that corresponds to the point cloud data bitstream to be decoded;
• determining residual information corresponding to the point cloud data bitstream to be decoded;
• and
• reconstructing, based on the starting position information corresponding to the second space-filling curve and the residual information, the point cloud data bitstream to be decoded, to acquire the initial point cloud data by decoding.

An electronic device, comprising:

• a memory, configured to store executable instructions;
• and
• a processor, configured to read the executable instructions and operate as instructed by the executable instructions, the executable instructions comprising:
• acquiring code configured to cause the processor to acquire initial point cloud data in a point cloud data processing environment;
• first determining code configured to cause the processor to determine a space grid structure corresponding to the initial point cloud data;
• second determining code configured to cause the processor to determine a filling order of different point cloud points in the initial point cloud data in the space grid structure;
• third determining code configured to cause the processor to determine, based on the filling order, residual information matched with the initial point cloud data;
• and
• encoding code configured to cause the processor to encode, according to the residual information, the initial point cloud data to obtain target point cloud data,
• wherein the second determining code further comprises fourth determining code, fifth determining code, and sixth determining code,
• wherein the fourth determining code is configured to cause the processor to determine an order of a space-filling curve based on a number of division child nodes,
• wherein the fifth determining code is configured to cause the processor to determine a filling mode based on the order of the space-filling curve,
• wherein the sixth determining code is configured to cause the processor to determine a first filling order matched with the filling mode,
• wherein the order of the space-filling curve is m-order, wherein m is an integer greater than or equal to 1,
• wherein the fifth determining code is configured to cause the processor to:
• respectively process corresponding division child nodes with at least two types of space-filling curves, based on the filling mode being processing with the at least two types of space-filling curves, and determine positions, corresponding to the different point cloud points, in a corresponding space-filling curve;
• and
• sort the positions, corresponding to the different point cloud points, in the corresponding space-filling curve, and determine a second filling order, matched with the filling mode, of the different point cloud points,
• wherein the executable instructions further comprise:
• seventh determining code configured to cause the processor to determine a filling starting point in the space grid structure based on an origin of a space coordinate system corresponding to the space grid structure, or
• eighth determining code configured to cause the processor to determine the filling starting point based on a coordinate point corresponding to a lower left corner coordinate of a starting bounding box corresponding to the initial point cloud data, and
• wherein the filling starting point is a first filling point corresponding to the filling order.

An electronic device, comprising:

• a memory, configured to store executable instructions;
• and
• a processor, configured to read the executable instructions and operate as instructed by the executable instructions, the executable instructions comprising:
• acquiring code configured to cause the processor to acquire a point cloud data bitstream to be decoded;
• first determining code configured to cause the processor to determine starting position information corresponding to a space-filling curve that corresponds to the point cloud data bitstream to be decoded;
• second determining code configured to cause the processor to determine residual information corresponding to the point cloud data bitstream to be decoded;
• and
• reconstructing code configured to cause the processor to reconstruct the point cloud data bitstream to be decoded based on the starting position information corresponding to the space-filling curve and the residual information,
• wherein an order of the space-filling curve is m-order, wherein m is an integer greater than or equal to 1,
• wherein the reconstructing code is configured to cause the processor to:
• determine a prediction process matched with a point cloud data processing environment, based on a filling mode being processing with at least two types of space-filling curves;
• and
• reconstruct the point cloud data bitstream to be decoded based on the determined prediction process, and
• wherein the starting position information is based on;
• an origin of a space coordinate system corresponding to a space grid structure corresponding to the point cloud data bitstream, or
• a coordinate point corresponding to a lower left corner coordinate of a starting bounding box corresponding to the point cloud data bitstream.

A non-transitory computer-readable storage medium, storing executable instructions, the executable instructions, when executed by a processor, causes the processor to at least:

• acquire initial point cloud data in a point cloud data processing environment;
• determine a space grid structure corresponding to the initial point cloud data;
• determine a filling order of different point cloud points in the initial point cloud data in the space grid structure;
• determine, based on the filling order, residual information matched with the initial point cloud data;
• and
• encode, according to the residual information, the initial point cloud data to obtain target point cloud data,
• wherein the determining the filling order comprises;
• determining an order of a space-filling curve based on a number of division child nodes;
• determining a filling mode based on the order of the space-filling curve;
• and
• determining a first filling order matched with the filling mode,
• wherein the order of the space-filling curve is m-order, wherein m is an integer greater than or equal to 1,
• wherein the determining the first filling order comprises:
• respectively processing corresponding division child nodes with at least two types of space-filling curves, based on the filling mode being processing with the at least two types of space-filling curves, and determining positions, corresponding to the different point cloud points, in a corresponding space-filling curve;
• and
• sorting the positions, corresponding to the different point cloud points, in the corresponding space-filling curve, and determining a second filling order, matched with the filling mode, of the different point cloud points,
• wherein the method further comprises, prior to the determining the filling order:
• determining a filling starting point in the space grid structure based on an origin of a space coordinate system corresponding to the space grid structure, or
• determining the filling starting point based on a coordinate point corresponding to a lower left corner coordinate of a starting bounding box corresponding to the initial point cloud data, and
• wherein the filling starting point is a first filling point corresponding to the filling order.

A non-transitory computer-readable storage medium, storing executable instructions, the executable instructions, when executed by a processor, causes the processor to at least:

• acquire a point cloud data bitstream to be decoded;
• determine starting position information corresponding to a space-filling curve that corresponds to the point cloud data bitstream to be decoded;
• determine residual information corresponding to the point cloud data bitstream to be decoded;
• and
• reconstruct the point cloud data bitstream to be decoded based on the starting position information corresponding to the space-filling curve and the residual information,
• wherein the reconstructing the point cloud data bitstream comprises;
• determining a prediction process matched with a point cloud data processing environment, based on a filling mode being processing with at least two types of space-filling curves;
• and
• reconstructing the point cloud data bitstream to be decoded based on the determined prediction process, and
• wherein the starting position information is based on:
• an origin of a space coordinate system corresponding to a space grid structure corresponding to the point cloud data bitstream, or
• a coordinate point corresponding to a lower left corner coordinate of a starting bounding box corresponding to the point cloud data bitstream.