Point cloud encoding processing method, decoding processing method and related device

Abstract

The application discloses a point cloud encoding processing method, a decoding processing method and related equipment. The point cloud encoding processing method of the embodiment of the application comprises the following steps: obtaining a current to-be-encoded node in a target queue, the target queue comprising nodes corresponding to occupied space blocks in a tree structure constructed based on first geometric information, the first geometric information being obtained by preprocessing geometric information of an Nth frame of point cloud to be encoded, N being an integer greater than 1; determining an encoding mode of the current to-be-encoded node according to whether the current to-be-encoded node satisfies an isolated point encoding condition; wherein the isolated point encoding condition comprises that a condition of the target node being occupied satisfies a preset condition, the target node being a node associated with the current to-be-encoded node in an encoded node.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of point cloud processing, and particularly relates to a point cloud encoding processing method, a point cloud decoding processing method and related equipment. BACKGROUND

[0002] In a point cloud Audio Video coding Standard (AVS) encoder framework, an isolated node identifier is usually set for a to-be-encoded node that meets an isolated point encoding condition to represent whether the to-be-encoded node is a real isolated node, and the isolated node identifier is encoded. However, in the current isolated point encoding condition, only the to-be-encoded node close to the bottom layer is limited not to meet the isolated point encoding condition, so that more to-be-encoded nodes need to be set with the isolated node identifier, resulting in a large code stream. SUMMARY

[0003] Embodiments of the present application provide a point cloud encoding processing method, a point cloud decoding processing method and related equipment, which can solve the problem of a large code stream caused by setting too many isolated node identifiers in the prior art.

[0004] In a first aspect, a point cloud encoding processing method is provided, comprising:

[0005] obtaining a current to-be-encoded node in a target queue, the target queue comprising nodes of corresponding spatial blocks occupied in a tree structure constructed based on first geometric information, the first geometric information being obtained by preprocessing geometric information of an Nth frame of point cloud to be encoded, N being an integer greater than 1;

[0006] determining an encoding mode of the current to-be-encoded node according to whether the current to-be-encoded node meets an isolated point encoding condition;

[0007] The isolated point encoding condition comprises that a target node being occupied meets a preset condition, the target node being a node associated with the current to-be-encoded node in an already encoded node.

[0008] In a second aspect, a point cloud decoding processing method is provided, comprising:

[0009] obtaining a current to-be-decoded node in a target queue, the target queue comprising nodes of corresponding spatial blocks occupied in a tree structure constructed based on first geometric information, the first geometric information being geometric information corresponding to already decoded nodes of an Nth frame of point cloud to be decoded, N being an integer greater than 1;

[0010] determining a decoding mode of the current to-be-decoded node according to whether the current to-be-decoded node meets an isolated point decoding condition;

[0011] The isolated point decoding condition comprises: a case that a target node is occupied satisfies a preset condition, the target node being a node associated with the current node to be decoded in the decoded nodes.

[0012] In a third aspect, a point cloud encoding processing apparatus is provided, comprising:

[0013] The first obtaining module is configured to obtain a current node to be encoded in a target queue, the target queue comprising nodes of corresponding spatial blocks in a tree structure constructed based on first geometry information, the first geometry information being obtained by preprocessing geometry information of an Nth frame of point cloud to be encoded, N being an integer greater than 1.

[0014] The first determining module is configured to determine an encoding mode of the current node to be encoded according to whether the current node to be encoded satisfies an isolated point encoding condition.

[0015] The isolated point encoding condition comprises: a case that a target node is occupied satisfies a preset condition, the target node being a node associated with the current node to be encoded in the encoded nodes.

[0016] In a fourth aspect, a point cloud decoding processing apparatus is provided, comprising:

[0017] The second obtaining module is configured to obtain a current node to be decoded in a target queue, the target queue comprising nodes of corresponding spatial blocks in a tree structure constructed based on first geometry information, the first geometry information being geometry information corresponding to decoded nodes of an Nth frame of point cloud to be decoded, N being an integer greater than 1.

[0018] The second determining module is configured to determine a decoding mode of the current node to be decoded according to whether the current node to be decoded satisfies an isolated point decoding condition.

[0019] The isolated point decoding condition comprises: a case that a target node is occupied satisfies a preset condition, the target node being a node associated with the current node to be decoded in the decoded nodes.

[0020] In a fifth aspect, a terminal is provided, comprising a processor, a memory, and a program or instructions stored in the memory and executable on the processor, the program or instructions being executed by the processor to implement the steps of the method according to the first aspect.

[0021] In a sixth aspect, a terminal is provided, comprising a processor and a communication interface, wherein,

[0022] The processor is configured to: obtain a current to-be-encoded node in a target queue, the target queue including nodes occupied by corresponding spatial blocks in a tree structure constructed based on first geometry information, the first geometry information being obtained by preprocessing geometry information of an Nth frame of point cloud to be encoded, N being an integer greater than 1; and determine an encoding mode of the current to-be-encoded node according to whether the current to-be-encoded node satisfies an isolated point encoding condition, wherein the isolated point encoding condition includes that a condition of the target node being occupied satisfies a preset condition, the target node being a node associated with the current to-be-encoded node in encoded nodes.

[0023] Alternatively, the processor is configured to: obtain a current to-be-decoded node in a target queue, the target queue including nodes occupied by corresponding spatial blocks in a tree structure constructed based on first geometry information, the first geometry information being geometry information corresponding to decoded nodes of an Nth frame of point cloud to be decoded, N being an integer greater than 1; and determine a decoding mode of the current to-be-decoded node according to whether the current to-be-decoded node satisfies an isolated point decoding condition, wherein the isolated point decoding condition includes that a condition of the target node being occupied satisfies a preset condition, the target node being a node associated with the current to-be-decoded node in decoded nodes.

[0024] In a seventh aspect, a readable storage medium is provided, the readable storage medium storing a program or instructions, the program or instructions being executed by a processor to implement steps of the method according to the first aspect, or implement steps of the method according to the second aspect.

[0025] In an eighth aspect, a chip is provided, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being configured to run a program or instructions to implement steps of the method according to the first aspect, or implement steps of the method according to the second aspect.

[0026] In a ninth aspect, a computer program / program product is provided, the computer program / program product being stored in a non-transitory storage medium, the computer program / program product being executed by at least one processor to implement the method according to the first aspect, or implement the method according to the second aspect.

[0027] In the embodiments of the present application, a current to-be-encoded node is obtained in a target queue, the target queue includes nodes corresponding to occupied space blocks in a tree structure constructed based on first geometry information, the first geometry information is obtained by preprocessing geometry information of an Nth frame of point cloud to be encoded, N is an integer greater than 1; a coding mode of the current to-be-encoded node is determined according to whether the current to-be-encoded node meets an isolated point coding condition; wherein the isolated point coding condition includes that a target node meets a preset condition in an occupied state, the target node is a node associated with the current to-be-encoded node in an encoded node. In this way, the proportion of isolated nodes in the isolated point coding mode can be improved based on the occupancy state of the corresponding node of the reconstructed point cloud of the encoded frame, so that the number of nodes entering the isolated point coding mode can be reduced, and the number of isolated node identifiers that need to be encoded can be reduced. Therefore, the embodiments of the present application can reduce the coding code stream. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic diagram of a point cloud AVS encoder framework;

[0029] Figure 2 is a schematic diagram of a point cloud AVS decoder framework;

[0030] Figure 3 is a schematic diagram of an inter-frame coding framework;

[0031] Figure 4 is a flowchart of a point cloud coding processing method provided by the embodiments of the present application;

[0032] Figure 5 is a schematic diagram of an octree coding processing flow;

[0033] Figure 6 is a flowchart of a point cloud decoding processing method provided by the embodiments of the present application;

[0034] Figure 7 is a structural diagram of a point cloud coding processing device provided by the embodiments of the present application;

[0035] Figure 8 is a structural diagram of a point cloud decoding processing device provided by the embodiments of the present application;

[0036] Figure 9 is a structural diagram of a communication device provided by the embodiments of the present application;

[0037] Figure 10 is a structural diagram of a communication device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0038] With reference to the drawings and the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly described. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art are within the scope of the present application.

[0039] The terms "first", "second", and the like 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 can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" are generally a category, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the front and rear associated objects are in an "or" relationship.

[0040] The coding method in the embodiments of the present application corresponds to a coding terminal, which can also be referred to as a terminal device or a user terminal (User Equipment, UE). The terminal can be a mobile phone, a tablet personal computer (Tablet Personal Computer), a laptop computer (Laptop Computer), also known as a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a palm computer, a netbook, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device (Wearable Device) or a vehicle-mounted device (VUE), a pedestrian terminal (PUE), and the like. It should be noted that the specific type of terminal is not limited in the embodiments of the present application.

[0041] For the convenience of understanding, some contents related to the embodiments of the present application are described as follows:

[0042] As Figure 1As shown in the point cloud AVS encoder framework, the geometry information and attribute information of the point cloud are encoded separately. First, the coordinate transformation is performed on the geometry information, so that the point cloud is contained in a bounding box, and then the coordinate quantization is performed. Quantization mainly plays a scaling role. Since quantization will round the geometry coordinates, the geometry information of a part of the points will be the same, which is called a duplicate point. Whether to remove the duplicate point is determined according to a parameter. The quantization and removal of the duplicate point are also called the voxelization process. Next, the bounding box is divided by a multi-branch tree, such as an octree, a quadtree or a binary tree. In the geometry information encoding framework based on the multi-branch tree, the bounding box is equally divided into 8 subcubes. The non-empty subcubes are continuously divided until the leaf nodes are 1x1x1 unit cubes, and then the number of points in the leaf nodes is encoded to generate a binary code stream. The current AVS geometry division sequence includes two kinds:

[0043] 1. Breadth-first traversal sequence: When the geometry is divided by an octree, the nodes in the current same layer are first divided, and then the nodes in the next layer are continuously divided until the leaf nodes are 1x1x1 unit cubes.

[0044] 2. Depth-first traversal sequence: When the geometry is divided by an octree, the first node in the current layer is continuously divided until the leaf nodes are 1x1x1 unit cubes. According to the sequence, the subsequent nodes in the current layer are divided until the nodes in the current layer are divided and stopped.

[0045] After the geometry coding is completed, the geometry information is reconstructed for the subsequent re-shading. The attribute coding is mainly for color and reflectivity information. First, it is judged according to a parameter whether to perform color space conversion. If the color space conversion is performed, the color information is converted from a red green blue (RGB) color space to a luminance color (YUV) color space. Then, the original point cloud is used to re-shade the geometry reconstructed point cloud, so that the uncoded attribute information corresponds to the reconstructed geometry information. In the color information coding, the points are sorted by using a Morden code, the nearest neighbor of the to-be-predicted point is searched by using the geometry space relationship, the reconstructed attribute value of the neighbor is used to predict the to-be-predicted point to obtain a predicted attribute value, then the real attribute value and the predicted attribute value are differentially encoded to obtain a prediction residual, and finally the prediction residual is quantized and encoded to generate a binary code stream.

[0046] Optionally, the AVS decoding process corresponds to the encoding process. Specifically, the AVS decoder framework is as shown in Figure 2 .

[0047] The explore model (EM) of AVS proposes an inter-frame coding framework based on the above-mentioned intra-frame coding framework, as shown in Figure 3 The specific coding process is as follows:

[0048] Two frame types are set: I frame and P frame, the first frame of each sequence is I frame, only intra-frame prediction is used, all subsequent frames are P frames, forward inter-frame prediction is performed, and the previous frame is used as a reference frame. Meanwhile, an inter-frame flag interMode is added to control whether to use the inter-frame prediction tool;

[0049] The current frame to be coded is input, the previous frame is coded point cloud as a reference frame, the two frames are subjected to synchronous tree division, and the node at the corresponding position in the reference frame is used as a prediction block. The occupancy information of the prediction block is used as a context to improve the occupancy code entropy coding efficiency of the to-be-coded block.

[0050] For the obtained prediction block, the same sub-block division operation is performed on the prediction block and the current to-be-coded block, and the occupancy code information of the prediction block and the current block is obtained respectively.

[0051] Optionally, the decoding process corresponds to the coding process, which will not be described here.

[0052] The point cloud coding processing method provided by the embodiments of the present application will be described in detail in combination with some embodiments and application scenarios thereof.

[0053] Please refer to Figure 4 , Figure 4 The flowchart of a point cloud coding processing method provided by the embodiments of the present application is shown in Figure 4 , comprising the following steps:

[0054] Step 401: obtaining a current to-be-coded node in a target queue, the target queue comprising nodes occupied by corresponding space blocks in a tree structure constructed based on first geometric information, the first geometric information being obtained by preprocessing geometric information of an Nth frame point cloud to be coded, N being an integer greater than 1;

[0055] In the embodiments of the present application, when the first geometric information is coded, a root node can be determined first and stored in a first node queue. It should be understood that the root node corresponds to a bounding box containing all points in the first geometric information. Then, the root node is subjected to tree structure division to obtain a child node, and the occupied child node is stored in the first node queue based on the occupancy of the child node. At this time, the occupied child node can be placed after the last node of the first node queue or after the node currently subjected to structure tree division. When coding, the nodes of the first node queue can be traversed as current to-be-coded nodes in turn for coding operation.

[0056] In step 402, a coding mode of the current node to be coded is determined according to whether the current node to be coded satisfies the isolated point coding condition.

[0057] The isolated point coding condition includes that the target node being occupied satisfies a preset condition, and the target node is a node associated with the current node to be coded in the coded nodes.

[0058] In the embodiments of the present application, the coding mode of the current node to be coded includes an isolated point coding mode or a placeholder coding mode. When the current node to be coded satisfies the isolated point coding condition, the coding mode of the current node to be coded is the isolated point coding mode. When the current node to be coded does not satisfy the isolated point coding condition, the coding mode of the current node to be coded is the placeholder coding mode.

[0059] It should be understood that in the embodiments of the present application, the condition that the target node is occupied satisfies the preset condition is set as part of the isolated point coding condition, so that whether the current node satisfies the isolated point coding condition can be determined according to the sparsity of the nodes in the second geometric information. For example, if the nodes corresponding to the reconstructed point cloud of the reference frame are relatively sparse, then the nodes of the current frame are also probably sparse, so the probability that the node is an isolated point is relatively large. Since the singleNodeFlag coding flag of each node entering the isolated point coding mode is needed after entering the isolated point coding mode, which is used to determine whether it is a real isolated node, for example, singleNodeFlag = 1 indicates that the current node to be coded is a real isolated node, and singleNodeFlag = 0 indicates that the current node to be coded is a non-isolated node. The occupation mode of the corresponding position node and its neighbor position node of the current node in the coded point cloud frame is used to infer whether the node entering the isolated point coding mode of the current frame is probably a real isolated point. By increasing the probability that the node entering the isolated point coding mode is a real isolated point, the number of singleNodeFlag = 0 is reduced, and the number of singleNodeFlag = 1 is almost unchanged. Therefore, in the embodiments of the present application, the coding data of singleNodeFlag can be reduced, thereby reducing the coding code stream.

[0060] In the embodiments of the present application, a current to-be-encoded node is obtained in a target queue, the target queue includes nodes corresponding to occupied space blocks in a tree structure constructed based on first geometric information, the first geometric information is obtained by preprocessing geometric information of an Nth frame of point cloud to be encoded, N is an integer greater than 1; a coding mode of the current to-be-encoded node is determined according to whether the current to-be-encoded node satisfies an isolated point coding condition; wherein the isolated point coding condition includes that a situation of the target node being occupied satisfies a preset condition, the target node is a node associated with the current to-be-encoded node in an already encoded node. In this way, the proportion of isolated nodes in the isolated point coding mode can be improved based on the occupation situation of the corresponding node of the reconstructed point cloud of the already encoded frame, so that the number of nodes entering the isolated point coding mode can be reduced, and the number of isolated node identifiers that need to be encoded can be reduced. Therefore, the embodiments of the present application can reduce the coding code stream.

[0061] It should be noted that in the embodiments of the present application, the first geometric information and the second geometric information can be divided into a synchronous tree structure, so as to obtain nodes of a tree structure corresponding to the first geometric information and nodes of a tree structure corresponding to the second geometric information.

[0062] Wherein, the synchronous tree division of the first geometric information and the second geometric information can be understood as that when the tree structure division of the second geometric information is performed, the tree structure of the first geometric information is referred to for synchronous division, that is, whether a node in the tree structure corresponding to the second geometric information is divided into a sub-node needs to be synchronized with the corresponding node of the tree structure corresponding to the first geometric information. It should be understood that in the embodiments of the present application, the tree structure division can be understood as a multi-way tree structure division, for example, octree division, quadtree division and binary tree division, etc.

[0063] Optionally, the above-mentioned reference frame point cloud is at least one frame of point cloud that has been encoded, specifically, after each frame of point cloud is encoded, the reconstructed geometric information is obtained by reconstructing the geometric information, and the memory is opened to save the reconstructed geometric information corresponding to each frame of encoded point cloud. After the reference frame point cloud corresponding to the Nth frame of point cloud is determined, the geometric information of the Nth frame of point cloud can be preprocessed to obtain the first geometric information.

[0064] Optionally, in some embodiments, the target node includes at least one of:

[0065] A sub-node of a first node, the first node is a node corresponding to the current to-be-encoded node in a tree structure corresponding to the second geometric information, the second geometric information is reconstructed geometric information of a reference frame point cloud corresponding to the Nth frame of point cloud;

[0066] A neighbor node of the first node

[0067] A child node of a neighbor node of the first node.

[0068] In the embodiments of the present application, the current to-be-encoded node and the first node can be divided into a synchronous tree before or after it is judged whether the current to-be-encoded node meets the isolated point encoding condition. It should be noted that if the current to-be-encoded node and the first node are divided into a synchronous tree before it is judged whether the current to-be-encoded node meets the isolated point encoding condition, the occupation of the child node of the first node can be obtained, and the target node can include the child node of the first node. If the current to-be-encoded node and the first node are divided into a synchronous tree after it is judged whether the current to-be-encoded node meets the isolated point encoding condition, the occupation of the child node of the first node cannot be obtained.

[0069] Optionally, in some embodiments, the neighbor node of the first node includes at least one of the following:

[0070] A same-layer node of the first node;

[0071] A child node of a same-layer node corresponding to a parent node of the first node.

[0072] Optionally, the condition that the target node is occupied satisfies a preset condition, including at least one of the following:

[0073] The number of nodes occupied by the target node is less than a first threshold value;

[0074] The number of points in the second geometric information located in the spatial block corresponding to the target node is less than a second threshold value, and the second geometric information is the reconstruction geometric information of the reference frame point cloud corresponding to the Nth frame point cloud.

[0075] In the embodiments of the present application, whether the current node meets the isolated point encoding condition can be determined based on the number of nodes occupied by the target node, or whether the current node meets the isolated point encoding condition can be determined based on the number of points in the second geometric information located in the spatial block corresponding to the target node, or a joint determination can be performed.

[0076] Optionally, in some embodiments, the isolated point encoding condition further includes:

[0077] The direct encoding identifier of the geometric header information corresponding to the Nth frame point cloud is a preset value;

[0078] In the case where the edge length of L directions in the spatial block corresponding to the current to-be-encoded node is greater than a preset minimum edge length, the sum of the to-be-encoded Morton code bits of the target points is greater than a preset multiple of L, the target points include the points in the first geometric information located in the spatial block corresponding to the current to-be-encoded node, and L is a natural number.

[0079] In the embodiments of the present application, the preset multiple can be 2. The size of the preset value can be set according to actual needs, and is not limited further herein.

[0080] Optionally, in some embodiments, in the case that the coding mode of the current node to be coded is the isolated point coding mode, the method further comprises:

[0081] In the case that the current node to be coded is a non-isolated node, performing occupancy code coding;

[0082] In the case that the current node to be coded is an isolated node, performing isolated point coding.

[0083] In the embodiments of the present application, performing occupancy code coding can be understood as coding the occupancy code of the current node to be coded by CABAC. The manner of isolated point coding can refer to related technologies and will not be described further herein.

[0084] In order to better understand the present application, some specific examples are described in detail below. First, a part of memory is opened to save the reconstructed point cloud obtained from the coded frame as the reference frame reconstructed point cloud of the current frame point cloud, denoted as pointcloudPred. As shown in Figure 5 The processing flow of octree coding is as follows:

[0085] 1. Quantizing the current frame point cloud pointcloud to obtain the current frame quantized point cloud, denoted as pointcloudQua;

[0086] 2. Octree dividing the current frame quantized point cloud pointcloudQua and the reference frame reconstructed point cloud pointcloudPred respectively to obtain the occupancy codes of the octree, denoted as occupancy and occupancyPred respectively, and each bit of the 8-bit occupancy code is denoted as O i and OP i , where i = 0…7. And the 8-bit occupancy codes of the current point cloud and the reference point cloud are respectively cached in a hash table, so as to facilitate finding neighbor information for the node later.

[0087] 3. Judging whether the current node satisfies the isolated point coding condition, if the isolated point coding condition is satisfied, judging whether the node is a real isolated point, if it is an isolated point, coding the isolated point flag singleNodeFlag = 1, and coding the isolated point coordinates, otherwise, coding the flag singleNodeFlag = 0, and performing occupancy code coding. Optionally, the isolated point coding condition includes the following conditions:

[0088] The case that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current node to be coded in the coded node;

[0089] The direct encoding identifier of the geometry header information corresponding to the Nth frame point cloud is a preset value.

[0090] In a case where the edge length of L directions in the spatial block corresponding to the current to-be-encoded node is greater than a preset minimum edge length, and the sum of the to-be-encoded Morton code bit numbers of the target points is greater than a preset multiple of L, the target points including points in the first geometry information located in the spatial block corresponding to the current to-be-encoded node, and L is a natural number.

[0091] 4. In the hash table cache, the occupancy mode of 26 neighbor nodes of the coplanar, collinear and common point of the reference frame corresponding node or the occupancy mode of the subset of 26 neighbor nodes is searched, and the number of occupied reference frame corresponding nodes and neighbor nodes is weighted, assuming that the weight of the reference frame corresponding node is W cur , the weight of the coplanar neighbor node of the reference frame corresponding node is W f , the weight of the collinear neighbor node of the reference frame corresponding node is W l , and the weight of the common point neighbor node of the reference frame corresponding node is W p , then the weighted value count = OC cur *W cur + OC f *W f + OC l *W l ++ OC p *W p , wherein OC represents the number of occupied reference frame corresponding nodes, OC f represents the number of occupied coplanar neighbor nodes of the reference frame corresponding node, OC l represents the number of occupied collinear neighbor nodes of the reference frame corresponding node, OC l represents the number of occupied common point neighbor nodes of the reference frame corresponding node, and W cur ≥ W f ≥ W l ≥ W p . The size of count and threshold TH is compared. The above weights and threshold values can be adjusted. The reference frame corresponding node can be understood as the node corresponding to the node of the reconstructed point cloud of the reference frame among the nodes currently being entropy encoded.

[0092] 5. If count > TH, use the first set of contexts for entropy encoding, otherwise use the second set of contexts for entropy encoding. The first set of contexts can be designed by the occupancy mode of the neighbor nodes of the inter-frame corresponding node, and the second set of contexts can be the intra-frame context.

[0093] Please refer to Figure 6 , Figure 6is a flowchart of a point cloud decoding processing method provided by an embodiment of the present application, as shown in Figure 6 includes the following steps:

[0094] Step 601: obtaining a current to-be-decoded node in a target queue, the target queue including nodes corresponding to occupied space blocks in a tree structure constructed based on first geometry information, the first geometry information being geometry information corresponding to decoded nodes of an Nth frame of point cloud to be decoded, N being an integer greater than 1.

[0095] Step 602: determining a decoding mode of the current to-be-decoded node according to whether the current to-be-decoded node satisfies an isolated point decoding condition.

[0096] The isolated point decoding condition includes that an occupied condition of a target node satisfies a preset condition, the target node being a node associated with the current to-be-decoded node in the decoded nodes.

[0097] It should be understood that in the embodiments of the present application, the first geometry information can be obtained based on entropy decoding and multi-ary tree reconstruction of a geometry bitstream corresponding to the Nth frame of point cloud.

[0098] Optionally, the target node includes at least one of the following:

[0099] a child node of a first node, the first node being a node corresponding to the current to-be-decoded node in a tree structure corresponding to second geometry information, the second geometry information being reconstructed geometry information of a reference frame of point cloud corresponding to the Nth frame of point cloud;

[0100] a neighbor node of the first node;

[0101] a child node of the neighbor node of the first node.

[0102] Optionally, the neighbor node of the first node includes at least one of the following:

[0103] a same-layer node of the first node;

[0104] a child node of a same-layer node corresponding to a parent node of the first node.

[0105] Optionally, the occupied condition of the target node satisfying the preset condition includes at least one of the following:

[0106] a number of nodes occupied by the target node is less than a first threshold value;

[0107] a number of points in the second geometry information located in a space block corresponding to the target node is less than a second threshold value, the second geometry information being reconstructed geometry information of a reference frame of point cloud corresponding to the Nth frame of point cloud.

[0108] Optionally, the isolated point decoding condition further comprises:

[0109] The direct decoding identifier of the geometry header information corresponding to the Nth frame of point cloud is a preset value.

[0110] In a case where the edge length of L directions of the spatial block corresponding to the current to-be-decoded node is greater than a preset minimum edge length, a sum of to-be-decoded Morton code bit numbers of target points is greater than a preset multiple of L, the target points include points in the first geometry information located in the spatial block corresponding to the current to-be-decoded node, and L is a natural number.

[0111] Optionally, the decoding mode of the current to-be-decoded node includes an isolated point decoding mode or a placeholder decoding mode, in a case where the current to-be-decoded node satisfies the isolated point decoding condition, the decoding mode of the current to-be-decoded node is the isolated point decoding mode, and in a case where the current to-be-decoded node does not satisfy the isolated point decoding condition, the decoding mode of the current to-be-decoded node is the placeholder decoding mode.

[0112] Optionally, in a case where the decoding mode of the current to-be-decoded node is the isolated point decoding mode, the method further comprises:

[0113] In a case where the current to-be-decoded node is a non-isolated node, performing placeholder decoding.

[0114] In a case where the current to-be-decoded node is an isolated node, performing isolated point decoding.

[0115] It should be noted that the embodiment is used as Figure 4 the embodiment shown in the embodiment of the decoding end, the decoding process is the inverse process of the encoding process, and the specific implementation can be referred to the embodiment shown in Figure 4 the embodiment related description, and achieves the same beneficial effects. In order to avoid repeated description, it will not be described here.

[0116] It should be noted that the point cloud encoding processing method provided in the embodiment can be executed by a point cloud encoding processing device, or a control module in the point cloud encoding processing device for executing the point cloud encoding processing method. In the embodiment, the point cloud encoding processing device is taken as an example to execute the point cloud encoding processing method, and the point cloud encoding processing device provided in the embodiment is described.

[0117] Please refer to Figure 7 , Figure 7 is a structure diagram of a point cloud encoding processing device provided in the embodiment, as Figure 7 shown, the point cloud encoding processing device 700 comprises:

[0118] The first obtaining module 701 is configured to obtain a current to-be-encoded node in a target queue, the target queue including nodes corresponding to occupied space blocks in a tree structure constructed based on first geometry information, the first geometry information being obtained by preprocessing geometry information of an Nth frame of point cloud to be encoded, N being an integer greater than 1.

[0119] The first determining module 702 is configured to determine an encoding mode of the current to-be-encoded node according to whether the current to-be-encoded node satisfies an isolated point encoding condition.

[0120] The isolated point encoding condition includes that an occupied state of a target node satisfies a preset condition, the target node being a node associated with the current to-be-encoded node in the encoded node.

[0121] Optionally, the target node includes at least one of the following:

[0122] a child node of a first node, the first node being a node corresponding to the current to-be-encoded node in a tree structure corresponding to second geometry information, the second geometry information being reconstructed geometry information of a reference frame of point cloud corresponding to the Nth frame of point cloud.

[0123] a neighbor node of the first node.

[0124] a child node of the neighbor node of the first node.

[0125] Optionally, the neighbor node of the first node includes at least one of the following:

[0126] a same-layer node of the first node.

[0127] a child node of a same-layer node corresponding to a parent node of the first node.

[0128] Optionally, the occupied state of the target node satisfying the preset condition includes at least one of the following:

[0129] a number of nodes occupied by the target node is less than a first threshold value.

[0130] a number of points in the second geometry information located in a space block corresponding to the target node is less than a second threshold value, the second geometry information being reconstructed geometry information of a reference frame of point cloud corresponding to the Nth frame of point cloud.

[0131] Optionally, the isolated point encoding condition further includes:

[0132] a direct encoding identifier of geometry header information corresponding to the Nth frame of point cloud is a preset value.

[0133] In a case where the length of edges of L directions of the spatial block corresponding to the current to-be-encoded node is greater than a preset minimum length, and the sum of the to-be-encoded Morton code bit numbers of the target points is greater than a preset multiple of L, the target points include points in the first geometric information located in the spatial block corresponding to the current to-be-encoded node, and L is a natural number.

[0134] Optionally, the encoding mode of the current to-be-encoded node includes an isolated point encoding mode or a placeholder encoding mode, in a case where the current to-be-encoded node satisfies an isolated point encoding condition, the encoding mode of the current to-be-encoded node is the isolated point encoding mode, and in a case where the current to-be-encoded node does not satisfy the isolated point encoding condition, the encoding mode of the current to-be-encoded node is the placeholder encoding mode.

[0135] Optionally, the point cloud encoding processing apparatus further includes a first execution module, configured to, in a case where the encoding mode of the current to-be-encoded node is the isolated point encoding mode, perform the following operations:

[0136] in a case where the current to-be-encoded node is a non-isolated node, performing placeholder encoding;

[0137] in a case where the current to-be-encoded node is an isolated node, performing isolated point encoding.

[0138] The point cloud encoding processing apparatus provided in the embodiments of the present application can implement Figure 4 The method embodiments of the present application are described above, and the various processes are not repeated here.

[0139] It should be noted that the point cloud decoding processing method provided in the embodiments of the present application can be executed by a point cloud decoding processing apparatus, or a control module in the point cloud decoding processing apparatus for executing the point cloud decoding processing method. In the embodiments of the present application, the point cloud decoding processing apparatus executes the point cloud decoding processing method as an example, and the point cloud decoding processing apparatus provided in the embodiments of the present application is described.

[0140] Please refer to Figure 8 , Figure 8 is a structure diagram of a point cloud decoding processing apparatus provided in the embodiments of the present application, as shown in Figure 8 , the point cloud decoding processing apparatus 800 includes:

[0141] a second acquisition module 801, configured to acquire a current to-be-decoded node in a target queue, the target queue including nodes in a tree structure constructed based on first geometric information, corresponding spatial blocks of which are occupied, the first geometric information being geometric information corresponding to decoded nodes of an Nth frame of point cloud to be decoded, N being an integer greater than 1;

[0142] The second determining module 802 is configured to determine a decoding mode of the current to-be-decoded node according to whether the current to-be-decoded node satisfies an isolated point decoding condition.

[0143] The isolated point decoding condition includes that a case that the target node is occupied satisfies a preset condition, and the target node is a node associated with the current to-be-decoded node in the decoded nodes.

[0144] Optionally, the target node includes at least one of the following:

[0145] A child node of a first node, the first node being a node corresponding to the current to-be-decoded node in a tree structure corresponding to second geometry information, and the second geometry information being reconstruction geometry information of a reference frame point cloud corresponding to the Nth frame point cloud.

[0146] A neighbor node of the first node.

[0147] A child node of the neighbor node of the first node.

[0148] Optionally, the neighbor node of the first node includes at least one of the following:

[0149] A same-layer node of the first node.

[0150] A child node of a same-layer node corresponding to a parent node of the first node.

[0151] Optionally, the case that the target node is occupied satisfies the preset condition includes at least one of the following:

[0152] A number of nodes occupied by the target node is less than a first threshold value.

[0153] A number of points in the second geometry information located in a spatial block corresponding to the target node is less than a second threshold value, and the second geometry information being reconstruction geometry information of a reference frame point cloud corresponding to the Nth frame point cloud.

[0154] Optionally, the isolated point decoding condition further includes:

[0155] A direct decoding identifier of geometry header information corresponding to the Nth frame point cloud is a preset value.

[0156] In a case that edge lengths of L directions in a spatial block corresponding to the current to-be-decoded node are greater than a preset minimum edge length, a sum of to-be-decoded Morton code bit numbers of target points is greater than a preset multiple of L, the target points include points in first geometry information located in the spatial block corresponding to the current to-be-decoded node, and L is a natural number.

[0157] Optionally, the decoding mode of the current node to be decoded includes a singular point decoding mode or a placeholder decoding mode, the decoding mode of the current node to be decoded is the singular point decoding mode in a case where the current node to be decoded satisfies a singular point decoding condition, and the decoding mode of the current node to be decoded is the placeholder decoding mode in a case where the current node to be decoded does not satisfy the singular point decoding condition.

[0158] Optionally, the point cloud decoding processing apparatus further includes a first execution module configured to perform the following operation in a case where the decoding mode of the current node to be decoded is the singular point decoding mode:

[0159] performing placeholder decoding in a case where the current node to be decoded is a non-singular node;

[0160] performing singular point decoding in a case where the current node to be decoded is a singular node.

[0161] The point cloud decoding processing apparatus provided by the embodiment of the present application can implement the method embodiment. Figure 4 The method embodiment, and the same technical effects can be achieved, and thus details are not repeated here.

[0162] The point cloud decoding processing apparatus in the embodiment of the present application can be an apparatus, an apparatus with an operating system, or an electronic device, and can also be a component in a terminal, an integrated circuit, or a chip. The apparatus can be a mobile terminal or a non-mobile terminal. Exemplarily, the mobile terminal can include, but is not limited to, the types of terminals listed above, and the non-mobile terminal can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, and the like, and the embodiment of the present application is not limited in this regard.

[0163] The point cloud decoding processing apparatus and the point cloud decoding processing apparatus provided by the embodiment of the present application can implement the various processes of the method embodiment and achieve the same technical effects, and thus details are not repeated here. Figure 4 to Figure 6 The method embodiment, and the same technical effects can be achieved, and thus details are not repeated here.

[0164] Optionally, as shown in Figure 9 the embodiment of the present application further provides a communication device 900, which includes a processor 901, a memory 902, a program or instruction stored in the memory 902 and executable on the processor 901. For example, the program or instruction is executed by the processor 901 to implement the various processes of the point cloud geometry information encoding processing method or the point cloud geometry information decoding processing method embodiment, and the same technical effects can be achieved, and thus details are not repeated here.

[0165] The terminal provided in the embodiments of the present application also includes a processor and a communication interface. The processor is configured to perform the following operations: obtaining a current to-be-encoded node in a target queue, the target queue including nodes occupied by corresponding spatial blocks in a tree structure constructed based on first geometry information, the first geometry information being obtained by preprocessing geometry information of an Nth frame of point cloud to be encoded, N being an integer greater than 1; determining an encoding mode of the current to-be-encoded node according to whether the current to-be-encoded node meets an isolated point encoding condition; wherein the isolated point encoding condition includes that an occupation condition of a target node meets a preset condition, the target node being a node associated with the current to-be-encoded node in encoded nodes; or the processor is configured to perform the following operations: obtaining a current to-be-decoded node in a target queue, the target queue including nodes occupied by corresponding spatial blocks in a tree structure constructed based on first geometry information, the first geometry information being geometry information corresponding to decoded nodes of an Nth frame of point cloud to be decoded, N being an integer greater than 1; determining a decoding mode of the current to-be-decoded node according to whether the current to-be-decoded node meets an isolated point decoding condition; wherein the isolated point decoding condition includes that an occupation condition of a target node meets a preset condition, the target node being a node associated with the current to-be-decoded node in decoded nodes. The terminal embodiment corresponds to the terminal-side method embodiment described above. Each implementation process and implementation manner of the method embodiment described above can be applied to the terminal embodiment and the same technical effects can be achieved. Specifically, Figure 10 A hardware structure diagram of a terminal for implementing various embodiments of the present application.

[0166] The terminal 1000 includes, but is not limited to, at least part of components such as a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, and a processor 1010.

[0167] Those skilled in the art can understand that the terminal 1000 can also include a power supply (such as a battery) for supplying power to each component. The power supply can be logically connected to the processor 1010 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. Figure 10 The terminal structure shown in the above figure does not constitute a limitation on the terminal. The terminal can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components, which will not be described here.

[0168] It should be understood that in the embodiments of the present application, the input unit 1004 can include a graphics processing unit (GPU) and a microphone, and the graphics processing unit processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 1006 can include a display panel, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 1007 includes a touch panel and other input devices. The touch panel is also called a touch screen. The touch panel can include two parts of a touch detection device and a touch controller. The other input devices can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), a trackball, a mouse, a joystick, and the like, which will not be described here.

[0169] In the embodiments of the present application, the radio frequency unit 1001 receives the downlink data from the network side device and processes it by the processor 1010. In addition, the radio frequency unit 1001 sends the uplink data to the network side device. Generally, the radio frequency unit 1001 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0170] The memory 1009 can be used to store software programs or instructions and various data. The memory 1009 can mainly include a storage program or instruction area and a storage data area, wherein the storage program or instruction area can store an operating system, at least one application program or instruction required by a function (such as a sound playing function, an image playing function, etc.), etc. In addition, the memory 1009 can include a high-speed random access memory, and can also include a non-transitory memory, which can 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. For example, at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device.

[0171] The processor 1010 can include one or more processing units; optionally, the processor 1010 can integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and an application program or instruction, etc., and the modem processor mainly processes wireless communication, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 1010.

[0172] The processor 1010 is configured to perform the following operations:

[0173] obtain a current to-be-encoded node in a target queue, the target queue including nodes corresponding to occupied space blocks in a tree structure constructed based on first geometry information, the first geometry information being obtained by preprocessing geometry information of an Nth frame of point cloud to be encoded, N being an integer greater than 1;

[0174] determine a coding mode of the current to-be-encoded node according to whether the current to-be-encoded node satisfies an isolated point coding condition;

[0175] The isolated point coding condition includes that a target node, which is a node associated with the current to-be-encoded node in the encoded nodes, is occupied in a manner satisfying a preset condition.

[0176] Alternatively, the processor 1010 is configured to perform the following operations:

[0177] obtain a current to-be-decoded node in a target queue, the target queue including nodes corresponding to occupied space blocks in a tree structure constructed based on first geometry information, the first geometry information being geometry information corresponding to decoded nodes of an Nth frame of point cloud to be decoded, N being an integer greater than 1;

[0178] determine a decoding mode of the current to-be-decoded node according to whether the current to-be-decoded node satisfies an isolated point decoding condition;

[0179] The isolated point decoding condition includes that a target node, which is a node associated with the current to-be-decoded node in the decoded nodes, is occupied in a manner satisfying a preset condition.

[0180] It should be understood that the processor 1010 in the above embodiment can implement each process of the method embodiments of Figure 4 and 6 to avoid repetition, which will not be described here.

[0181] The embodiments of the present application also provide a readable storage medium, the readable storage medium storing a program or instructions, the program or instructions being executed by a processor to implement each process of the above point cloud encoding processing method or point cloud decoding processing method embodiments, and achieve the same technical effects, to avoid repetition, which will not be described here.

[0182] The processor is the processor in the electronic device in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc.

[0183] The chip provided by the embodiment of the present application also can be called a system chip, a system on chip, a chip system, or a system on chip, etc.

[0184] It should be understood that the chip mentioned in the embodiment of the present application can also be called a system chip, a system on chip, a chip system, or a system on chip, etc.

[0185] The embodiment of the present application further provides a program product stored in a non-transitory storage medium, which is executed by at least one processor to implement the processes of the point cloud encoding processing method or the point cloud decoding processing method, and can achieve the same technical effects. To avoid repetition, details are not repeated here.

[0186] It should be understood that the chip mentioned in the embodiment of the present application can also be called a system chip, a system on chip, a chip system, or a system on chip, etc.

[0187] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or base station, etc.) execute the method described in each embodiment of the present application.

[0188] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims.

Claims

1. A point cloud encoding processing method, characterized by, The method comprises: obtaining a current to-be-encoded node in a target queue, the target queue comprising nodes occupied by corresponding spatial blocks in a tree structure constructed based on first geometric information, the first geometric information being obtained by preprocessing geometric information of an Nth frame of point cloud to be encoded, N being an integer greater than 1; determining an encoding mode of the current to-be-encoded node according to whether the current to-be-encoded node satisfies an isolated point encoding condition; wherein the isolated point encoding condition comprises: a condition that the target node is occupied satisfying a preset condition, the target node being a node associated with the current to-be-encoded node in an encoded node; wherein the target node comprises at least one of: a child node of a first node, the first node being a node corresponding to the current to-be-encoded node in a tree structure corresponding to second geometric information, the second geometric information being reconstructed geometric information of a reference frame of point cloud corresponding to the Nth frame of point cloud; a neighbor node of the first node; a child node of the neighbor node of the first node.

2. The method of claim 1, wherein, The neighbor node of the first node comprises at least one of: a same layer node of the first node; a child node of a same layer node corresponding to a parent node of the first node.

3. The method of claim 1, wherein, The condition that the target node is occupied satisfying the preset condition comprises at least one of: a number of nodes occupied by the target node being less than a first threshold value; a number of points in the second geometric information located within a spatial block corresponding to the target node being less than a second threshold value, the second geometric information being reconstructed geometric information of a reference frame of point cloud corresponding to the Nth frame of point cloud.

4. The method of claim 1, wherein, The isolated point encoding condition further comprises: a direct encoding identifier of geometry header information corresponding to the Nth frame of point cloud being a preset value; in a case where edge lengths of L directions in a spatial block corresponding to the current to-be-encoded node exist and are greater than a preset minimum edge length, a sum of to-be-encoded Morton code bit numbers of target points comprising points in the first geometric information located within the spatial block corresponding to the current to-be-encoded node being greater than a preset multiple of L, L being a natural number.

5. The method of claim 1, wherein, The encoding mode of the current to-be-encoded node comprises an isolated point encoding mode or an occupancy code encoding mode, in a case where the current to-be-encoded node satisfies the isolated point encoding condition, the encoding mode of the current to-be-encoded node being the isolated point encoding mode; in a case where the current to-be-encoded node does not satisfy the isolated point encoding condition, the encoding mode of the current to-be-encoded node being the occupancy code encoding mode.

6. The method of claim 5, wherein, In a case where the encoding mode of the current to-be-encoded node is the isolated point encoding mode, the method further comprises: in a case where the current to-be-encoded node is a non-isolated node, performing occupancy code encoding; in a case where the current to-be-encoded node is an isolated node, performing isolated point encoding.

7. A method of point cloud decoding processing, the method comprising: The method comprises: obtaining a current to-be-decoded node in a target queue, the target queue comprising nodes occupied by corresponding spatial blocks in a tree structure constructed based on first geometric information, the first geometric information being geometric information corresponding to a decoded node of an Nth frame of point cloud to be decoded, N being an integer greater than 1; determining a decoding mode of the current to-be-decoded node according to whether the current to-be-decoded node satisfies an isolated point decoding condition; The isolated point decoding condition comprises that the target node is occupied in a case that satisfies a preset condition, and the target node is a node associated with the current node to be decoded among decoded nodes. The target node comprises at least one of the following: A child node of a first node, the first node being a node corresponding to the current node to be decoded in a tree structure corresponding to second geometry information, and the second geometry information being reconstruction geometry information of a reference frame point cloud corresponding to the Nth frame point cloud; A neighbor node of the first node; A child node of the neighbor node of the first node.

8. The method of claim 7, wherein, The neighbor node of the first node comprises at least one of the following: A same layer node of the first node; A child node of a same layer node corresponding to a parent node of the first node.

9. The method of claim 7, wherein, The target node is occupied in a case that satisfies a preset condition, and the target node is a node associated with the current node to be decoded among decoded nodes. The target node is occupied in a case that satisfies a preset condition, and the target node is a node associated with the current node to be decoded among decoded nodes. The isolated point decoding condition further comprises:

10. The method of claim 7, wherein, A direct decoding identifier of geometry header information corresponding to the Nth frame point cloud is a preset value; In a case that edge lengths of L directions in a spatial block corresponding to the current node to be decoded exist and are greater than a preset minimum edge length, a sum of to-be-decoded Morton code bit numbers of target points is greater than a preset multiple of L, the target points comprise points in the spatial block corresponding to the current node to be decoded in first geometry information, and L is a natural number. The decoding mode of the current node to be decoded comprises an isolated point decoding mode or an occupancy code decoding mode, and in a case that the current node to be decoded satisfies the isolated point decoding condition, the decoding mode of the current node to be decoded is the isolated point decoding mode.

11. The method of claim 7, wherein, In a case that the current node to be decoded does not satisfy the isolated point decoding condition, the decoding mode of the current node to be decoded is the occupancy code decoding mode. In a case that the decoding mode of the current node to be decoded is the isolated point decoding mode, the method further comprises:

12. The method of claim 11, wherein, In a case that the current node to be decoded is a non-isolated node, performing occupancy code decoding; In a case that the current node to be decoded is an isolated node, performing isolated point decoding. The method comprises:

13. A point cloud encoding processing apparatus, characterized by comprising: A first acquisition module is configured to acquire a current node to be encoded in a target queue, the target queue comprising nodes corresponding to occupied spatial blocks in a tree structure constructed based on first geometry information, the first geometry information being obtained by preprocessing geometry information of an Nth frame point cloud to be encoded, and N being an integer greater than 1; A first determination module is configured to determine a coding mode of the current node to be encoded according to whether the current node to be encoded satisfies an isolated point coding condition. The isolated point coding condition comprises that a target node is occupied in a case that satisfies a preset condition, and the target node is a node associated with the current node to be encoded among coded nodes. The target node comprises at least one of the following: ​ a child node of the first node, the first node being a node corresponding to the current to-be-encoded node in a tree structure corresponding to second geometry information, the second geometry information being reconstructed geometry information of a reference frame point cloud corresponding to the Nth frame point cloud; a neighbor node of the first node; a child node of the neighbor node of the first node.

14. The apparatus of claim 13, wherein, The neighbor node of the first node includes at least one of: a same-layer node of the first node; a child node of a same-layer node corresponding to a parent node of the first node.

15. The apparatus of claim 13, wherein, The condition that the target node is occupied satisfies a preset condition, and the preset condition includes at least one of: a number of nodes occupied by the target node is less than a first threshold value; a number of points in the second geometry information located in a spatial block corresponding to the target node is less than a second threshold value, the second geometry information being reconstructed geometry information of a reference frame point cloud corresponding to the Nth frame point cloud.

16. An apparatus for point cloud decoding processing, the apparatus comprising: comprise: a second acquisition module, configured to acquire a current to-be-decoded node in a target queue, the target queue including nodes corresponding to spatial blocks occupied in a tree structure constructed based on first geometry information, the first geometry information being geometry information corresponding to decoded nodes of an Nth frame point cloud to be decoded, N being an integer greater than 1; a second determination module, configured to determine a decoding mode of the current to-be-decoded node according to whether the current to-be-decoded node satisfies an isolated point decoding condition; The isolated point decoding condition includes that a target node is occupied in a condition satisfying a preset condition, the target node being a node associated with the current to-be-decoded node in the decoded nodes. The target node includes at least one of: a child node of the first node, the first node being a node corresponding to the current to-be-decoded node in a tree structure corresponding to second geometry information, the second geometry information being reconstructed geometry information of a reference frame point cloud corresponding to the Nth frame point cloud; a neighbor node of the first node; a child node of the neighbor node of the first node.

17. The apparatus of claim 16, wherein, The neighbor node of the first node includes at least one of: a same-layer node of the first node; a child node of a same-layer node corresponding to a parent node of the first node.

18. The apparatus of claim 16, wherein, The condition that the target node is occupied satisfies a preset condition, and the preset condition includes at least one of: a number of nodes occupied by the target node is less than a first threshold value; a number of points in the second geometry information located in a spatial block corresponding to the target node is less than a second threshold value, the second geometry information being reconstructed geometry information of a reference frame point cloud corresponding to the Nth frame point cloud.

19. A terminal, characterized by comprise: a memory, a processor, and a program stored in the memory and capable of running on the processor, the program being executed by the processor to implement steps in the point cloud encoding processing method according to any one of claims 1 to 6, or the program being executed by the processor to implement steps in the point cloud decoding processing method according to any one of claims 7 to 12.

20. A readable storage medium, characterized by, The program or instruction is stored on the readable storage medium, and when executed by a processor, the program realizes the steps in the point cloud encoding processing method in any one of claims 1 to 6, or when executed by the processor, the program realizes the steps in the point cloud decoding processing method in any one of claims 7 to 12.

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