CN110971906B - Hierarchical point cloud code stream packaging method and system - Google Patents
Hierarchical point cloud code stream packaging method and system Download PDFInfo
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Abstract
The invention provides a hierarchical point cloud code stream packaging method and a hierarchical point cloud code stream packaging system, wherein the method comprises the following steps: dividing the code stream information after the dynamic point cloud compression into priority levels, and packaging the code stream information in different boxes; the information in the code stream information is distinguished into base layer information and enhancement layer information, and different priorities are set for decoding the base layer information and the enhancement layer information. The invention can be based on different conditions of the decoding end: network bandwidth, device performance, delay conditions, user requirements, etc. are decoded hierarchically. And (4) layering, namely decomposing the code stream after the dynamic point cloud compression from different angles, and realizing basic information presentation (to ensure the basic experience of the user and realize basic functions) and enhanced information presentation (to ensure the high-quality experience of the user) on the basis of the decomposition. Therefore, smooth point cloud presenting experience is provided for users under various conditions.
Description
Technical Field
The invention relates to the field of point cloud code streams, in particular to a hierarchical point cloud code stream packaging method and system, and particularly relates to a point cloud code stream packaging structure which is suitable for the design of a consumption process and is used for an application scene when point clouds are presented at a decoding end.
Background
In recent decades, three-dimensional scanning technology and systems have become mature, the manufacturing cost of 3D scanners is reduced, the precision is higher and higher, the applications are wider and wider, and three-dimensional coordinate information of the surfaces of actual objects can be rapidly and accurately acquired and stored, so that point cloud data can be widely applied to the related fields of image processing in scientific research and industry.
The point cloud data is data information of three-dimensional coordinates of the object after three-dimensional scanning, and information such as RGB (red, green, blue), depth and the like can be recorded. With the improvement of the precision and the speed of a three-dimensional scanning system, the amount of scanned point cloud data reaches the order of magnitude of millions or even more, and at present, the massive point cloud data increases heavy burden for computer storage, processing and transmission.
Point cloud compression algorithms have been studied more systematically, and a typical compression scheme for dynamic point clouds is to convert 3D point cloud data into 2D pictures for processing by mapping. The scheme enables the point cloud to be compressed and transmitted through a video processing means, but information in the code stream after conversion is divided into geometric information, texture information, occupation bitmap, auxiliary information and the like. The geometric information records the spatial position of the point cloud, and is most important, and meanwhile, decoding can be realized by means of the occupied bitmap and the auxiliary information, and the texture information can be decoded after the geometric information is decoded. In the current scheme, a code stream structure after dynamic point cloud compression generally takes a GOF (Group of Frame) as a granularity, geometric information and texture information of a plurality of point cloud frames are stored in the code stream in an interlaced manner, and the code stream structure does not consider the processing pressure of a decoding end. Because the data volume of the point cloud file is huge, one frame can reach hundreds of megabytes, if the transmission and the decoding are directly carried out according to the compressed code stream, serious blockage and time delay occur when the decoding end presents the point cloud file. How to design a packaging structure for code stream information after dynamic point cloud compression to make the code stream information suitable for presentation of a decoding end is a key problem to be solved urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a hierarchical point cloud code stream packaging method and system.
The invention provides a hierarchical point cloud code stream packaging method, which comprises the following steps:
dividing and packaging: dividing the code stream information after the dynamic point cloud compression into priority levels, and packaging the code stream information in different boxes;
the information in the code stream information is distinguished into base layer information and enhancement layer information, and different priorities are set for decoding the base layer information and the enhancement layer information.
Preferably, the method comprises the following steps:
setting geometric information: setting geometric information in the code stream information as basic layer information; the geometric information indicates a spatial location of the point cloud;
occupying a bitmap setting step: setting a placeholder map in the code stream information as basic layer information; the placeholder indicates an area occupied by the point cloud data in the mapped image;
texture information setting step: setting texture information in the code stream information as enhancement layer information; the texture information indicates the color attribute of the point cloud, and decoding is performed after the base layer information is decoded;
auxiliary information setting step: setting auxiliary information in the code stream information as metadata; the auxiliary information is used for indicating the mapping mode of the whole point cloud and assisting in realizing the decoding of the whole point cloud.
Preferably, the method comprises the following steps:
and (3) decoding: performing hierarchical decoding according to the condition of a decoding end;
the conditions of the decoding end comprise any one or more of network bandwidth, equipment performance, delay conditions and user requirements;
the hierarchical decoding is based on decomposing the code stream after the dynamic point cloud compression from different angles, and realizes basic information presentation and enhanced information presentation on the basis.
The invention provides a hierarchical point cloud code stream packaging system, which comprises the following modules:
dividing the packaging modules: dividing the code stream information after the dynamic point cloud compression into priority levels, and packaging the code stream information in different boxes;
the information in the code stream information is distinguished into base layer information and enhancement layer information, and different priorities are set for decoding the base layer information and the enhancement layer information.
Preferably, the following modules are included:
the geometric information setting module: setting geometric information in the code stream information as basic layer information; the geometric information indicates a spatial location of the point cloud;
the placeholder map setting module: setting a placeholder map in the code stream information as basic layer information; the placeholder indicates an area occupied by the point cloud data in the mapped image;
the texture information setting module: setting texture information in the code stream information as enhancement layer information; the texture information indicates the color attribute of the point cloud, and decoding is performed after the base layer information is decoded;
auxiliary information setting module: setting auxiliary information in the code stream information as metadata; the auxiliary information is used for indicating the mapping mode of the whole point cloud and assisting in realizing the decoding of the whole point cloud.
Preferably, the method comprises the following steps:
a decoding module: performing hierarchical decoding according to the condition of a decoding end;
the conditions of the decoding end comprise any one or more of network bandwidth, equipment performance, delay conditions and user requirements;
the hierarchical decoding is based on decomposing the code stream after the dynamic point cloud compression from different angles, and realizes basic information presentation and enhanced information presentation on the basis.
Preferably, the different priorities indicate the decoding order and the dependency relationship, so that the decoding end decodes according to the specified order, thereby optimizing the presentation of the point cloud.
Preferably, the geometric information and the occupation bitmap are basic layer information, and preferential decoding is obtained, so that the spatial position and the shape contour of the point cloud are presented, and the most basic requirements of a user are met; the texture information is enhancement layer information, and decoding is performed after the base layer information is decoded, so that the requirements of a user on the color attribute of the point cloud are met;
alternatively, the base layer information is presented preferentially and the enhancement layer information is not presented.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, aiming at the code stream information and the decoding process of the point cloud, geometric information, texture information, occupation maps and auxiliary information are respectively arranged in different boxes, and the presentation of the point cloud at a decoding end is optimized.
2. The invention can be based on different conditions of the decoding end: network bandwidth, device performance, delay conditions, user requirements, etc. are decoded hierarchically. And (4) layering, namely decomposing the code stream after the dynamic point cloud compression from different angles, and realizing basic information presentation (to ensure the basic experience of the user and realize basic functions) and enhanced information presentation (to ensure the high-quality experience of the user) on the basis of the decomposition. Therefore, smooth point cloud presenting experience is provided for users under various conditions.
3. The invention divides the priority of the code stream information after the dynamic point cloud compression, and different priorities of the information indicate the decoding sequence and the dependency relationship, so that a decoding end can decode according to the specified sequence, and the point cloud presentation is further optimized. The geometric information and the occupation bitmap are basic layer information, and can be preferentially decoded to present the spatial position and the shape outline of the point cloud, so that the most basic requirements of a user are met. The texture information is enhancement layer information, and needs to be decoded after the base layer information is decoded, so that the higher level requirements of users on the point cloud color attributes are met. In particular, when the application of the decoding end has special requirements (such as application of target detection, and the like, without texture information), or the processing performance and network conditions are poor, the base layer information can be preferentially presented, and the enhancement layer information is optional, so that smooth presentation of the decoding end is realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a code stream packaging structure in the prior art.
Fig. 2 is a hierarchical code stream packaging structure proposed in the present invention.
Fig. 3 is a point cloud presentation effect diagram after the base layer information decoding is completed in the embodiment.
Fig. 4 is a point cloud presentation effect diagram after decoding of enhancement layer information is completed in the embodiment.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The code stream obtained by the current dynamic point cloud compression scheme based on the 2D processing mode directly takes the GOF as the granularity. This leads to a problem: because the data volume of the point cloud file is huge, one frame can reach hundreds of megabytes, if the transmission and the decoding are directly carried out according to the compressed code stream, serious blockage and time delay occur when the decoding end presents the point cloud file. People are further upgrading the consumption of media nowadays, and point clouds are indispensable as an important representation form of immersive media. In the fields of automatic driving, security monitoring and the like, cloud presentation is also needed to optimize the solution. In order to enable the point cloud based on the 2D processing mode to be better presented at a decoding end, the invention provides a hierarchical point cloud code stream packaging method, which divides information into a base layer and an enhancement layer so as to support smooth presentation and better user experience of the decoding end.
In particular, the invention applies the packaging structure of the ISOBMFF, and puts the geometric information, the occupation bitmap and the texture information into different tracks or boxes. And sets priorities for these different pieces of information: the geometrical information and the placeholder map have higher priority, and need to be decoded preferentially for the basic layer information; texture information has a lower priority, and is enhancement layer information, which depends on the base layer and needs to be decoded after the base layer information is decoded. And the auxiliary information is used as the prompt information of the whole point cloud file and is arranged in the metadata, and is used for assisting the whole point cloud to finish decoding.
In order to solve the above problem, it is necessary to set a hint hit in the moov box and a HintSample in each track header to indicate the priority of each track and the dependency relationship between them, and the hint can be variously implemented, preferably by the following group of information as an example.
sequence _ number: an integer representing the order of the track in mdat;
pointclosed _ fragment _ sequence _ number: the serial number of the point cloud segment to which the media data of the track belongs;
trackrefindex: extracting the ID of the media track from which the track data is extracted;
dependency _ counter: indicating the number of tracks on which decoding depends. The value of this field is equal to the number of subsequent tracks in the sequence _ number order, which, if not, may not be correctly decoded. For example, if the value of this field is equal to n, then n subsequent tracks may not be correctly decoded without this track;
offset: the offset of the media data is contained in this track. The offset base is the beginning of a box containing "mdat". the track should be placed where the offset indicates;
length: the length (in bytes) of data corresponding to this track;
multimedia _ flag: when set to "1", this flag indicates that enhancement layer information is in this box;
dependency _ id: the dependency item of the track identifies the track id on which the track depends
priority _ id: a priority identification of the track;
it should be noted that the hierarchical property is only described by taking the above fields as an example, and is not limited to the above fields and the sizes thereof. For convenience of description, the following embodiments are described with reference to the above-mentioned set of indication information, but in other embodiments, other angles of hierarchical information are also possible or possible.
Based on the above expression, specific application examples are given below:
in order to more clearly illustrate the hierarchical point cloud code stream encapsulation method proposed in the present invention, the following contents provide a specific application example of the present invention.
Application example:
a typical way to define the base layer and enhancement layer is to: the geometric information obtained by compressing the dynamic point cloud and the corresponding placeholder map are defined as the base layer information, and the shape outline and the space position of the point cloud can be presented after the decoding is completed, and the realized effect is shown in fig. 3.
Specifically, the geometry information and the placeholder map may be respectively made as a single track, and has _ tracks _ flag may be made as 1. In the header of the geometric information track, sequence _ number and pointclosed _ fragment _ sequence _ number are respectively the serial number of the track and the serial number of the point cloud segment to which the track belongs, dependency _ counter is set to 1 (because the point cloud segment of this embodiment has a placeholder track to depend on geometric information), and multilayer is set to 0 (indicating base layer information). Similarly, in the header of the placeholder map track, sequence _ number and pointclosed _ fragment _ sequence _ number are respectively the sequence number of the track and the sequence number of the point cloud segment to which the track belongs, dependency _ counter is set to 1 (because one point cloud segment has texture information track and needs to depend on the placeholder map), and multilayer is set to 0 (indicating base layer information). For monitoring, automatic driving or target detection and other applications, the requirements of users can be met only by completing decoding of the base layer.
The texture information is defined as enhancement layer information, and the part needs to be decoded on the basis of the completion of the decoding of the base layer, so that the requirement of a user on the color attribute of the point cloud can be met, and the method is suitable for better decoding end conditions. In the header of the texture information track, sequence _ number and pointclosed _ fragment _ sequence _ number are respectively the sequence number of the track and the sequence number of the point cloud segment to which the track belongs, dependency _ counter is set to 0 (since in this embodiment, the texture information is the highest enhancement layer information, no other track needs to depend on the track), and multilayer is set to 1 (indicating the first enhancement layer information). dependency _ id is set to the track id on which this track depends (the placeholder map track in this embodiment), and priority _ id is set to 0 (the highest priority of the enhancement layer). After the decoding of the enhancement layer information is completed, the point cloud presentation is as shown in fig. 4, which can meet the high quality requirement of the user for the point cloud presentation.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A hierarchical point cloud code stream packaging method is characterized by comprising the following steps:
dividing and packaging: dividing the code stream information after dynamic point cloud compression into priority levels, and packaging the code stream information in different boxes by using an ISOBMFF packaging structure;
the information in the code stream information is distinguished into base layer information and enhancement layer information, and different priorities are set for decoding the base layer information and the enhancement layer information;
and setting the geometric information and the placeholder map in the code stream information as the base layer information, wherein the texture information in the code stream information is the enhancement layer information, and the auxiliary information in the code stream information is metadata.
2. The method for encapsulating the hierarchical point cloud code stream according to claim 1, comprising the following steps:
setting geometric information: setting geometric information in the code stream information as basic layer information; the geometric information indicates a spatial location of the point cloud;
occupying a bitmap setting step: setting a placeholder map in the code stream information as basic layer information; the placeholder indicates an area occupied by the point cloud data in the mapped image;
texture information setting step: setting texture information in the code stream information as enhancement layer information; the texture information indicates the color attribute of the point cloud, and decoding is performed after the base layer information is decoded;
auxiliary information setting step: setting auxiliary information in the code stream information as metadata; the auxiliary information is used for indicating the mapping mode of the whole point cloud and assisting in realizing the decoding of the whole point cloud.
3. The method for encapsulating the hierarchical point cloud code stream according to claim 1, comprising:
and (3) decoding: performing hierarchical decoding according to the condition of a decoding end;
the conditions of the decoding end comprise any one or more of network bandwidth, equipment performance, delay conditions and user requirements;
the hierarchical decoding is based on decomposing the code stream after the dynamic point cloud compression from different angles, and realizes basic information presentation and enhanced information presentation on the basis.
4. The method of claim 1, wherein different priorities indicate a decoding order and dependency relationship, so that a decoding end decodes in a predetermined order to optimize point cloud presentation.
5. The method as claimed in claim 2, wherein the geometric information and the occupied bitmap are basic layer information, which is decoded preferentially to present the spatial position and shape profile of the point cloud and meet the most basic requirements of users; the texture information is enhancement layer information, and decoding is performed after the base layer information is decoded, so that the requirements of a user on the color attribute of the point cloud are met;
alternatively, the base layer information is presented preferentially and the enhancement layer information is not presented.
6. A hierarchical point cloud code stream packaging system is characterized by comprising the following modules:
dividing the packaging modules: dividing the code stream information after dynamic point cloud compression into priority levels, and packaging the code stream information in different boxes by using an ISOBMFF packaging structure;
the information in the code stream information is distinguished into base layer information and enhancement layer information, and different priorities are set for decoding the base layer information and the enhancement layer information;
the geometric information and the occupation bitmap in the code stream information are the basic layer information, the texture information in the code stream information is the enhancement layer information, and the auxiliary information in the code stream information is metadata.
7. The hierarchical point cloud codestream encapsulation system according to claim 6, characterized by comprising the following modules:
the geometric information setting module: setting geometric information in the code stream information as basic layer information; the geometric information indicates a spatial location of the point cloud;
the placeholder map setting module: setting a placeholder map in the code stream information as basic layer information; the placeholder indicates an area occupied by the point cloud data in the mapped image;
the texture information setting module: setting texture information in the code stream information as enhancement layer information; the texture information indicates the color attribute of the point cloud, and decoding is performed after the base layer information is decoded;
auxiliary information setting module: setting auxiliary information in the code stream information as metadata; the auxiliary information is used for indicating the mapping mode of the whole point cloud and assisting in realizing the decoding of the whole point cloud.
8. The hierarchical point cloud codestream encapsulation system according to claim 6, comprising:
a decoding module: performing hierarchical decoding according to the condition of a decoding end;
the conditions of the decoding end comprise any one or more of network bandwidth, equipment performance, delay conditions and user requirements;
the hierarchical decoding is based on decomposing the code stream after the dynamic point cloud compression from different angles, and realizes basic information presentation and enhanced information presentation on the basis.
9. The hierarchical point cloud code stream encapsulation system according to claim 6, wherein different priorities indicate decoding order and dependency relationship, so that a decoding end decodes according to a specified order, thereby optimizing point cloud presentation.
10. The hierarchical point cloud code stream encapsulation system according to claim 7, wherein the geometric information and the occupied bitmap are basic layer information, and are preferentially decoded, so that the spatial position and the shape contour of the point cloud are presented, and the most basic requirements of a user are met; the texture information is enhancement layer information, and decoding is performed after the base layer information is decoded, so that the requirements of a user on the color attribute of the point cloud are met;
alternatively, the base layer information is presented preferentially and the enhancement layer information is not presented.
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| WO2022155929A1 (en) * | 2021-01-22 | 2022-07-28 | 深圳市大疆创新科技有限公司 | Point cloud geometry decoding method and device, and computer-readable storage medium |
| CN115396645B (en) * | 2022-08-18 | 2024-04-19 | 腾讯科技（深圳）有限公司 | Data processing method, device and equipment for immersion medium and storage medium |
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