Centroid positioning for voxelizing triangles in point cloud coding

Abstract

A centroid and multiple points associated with a cuboid can form a triangle representing a portion of the point cloud that represents an object or scene in the content. Changes in the position of points within the cuboid can shift the centroid's position, which can cause potential distortion. Optimizing the centroid's position based on weighted points associated with the cuboid can improve compression performance and rendering.

Claims

1. It is a method, Determining a portion of the point cloud associated with the content and multiple vertices of the associated rectangular prism, Determining the centroid vertex of the rectangular parallelepiped based on the weighted sum of the plurality of vertices, wherein each of the plurality of vertices has a weight based on the adjacent vertices among the plurality of vertices. The determination of a triangle based on the centroid vertex and the pair of vertices, A method comprising voxelizing the aforementioned triangle to determine the voxel representing the aforementioned portion of the point cloud.

2. Determining the aforementioned triangle is Decoding centroid residuals from a bitstream, The method according to claim 1, further comprising determining a second centroid vertex based on the centroid vertex and the centroid residual, wherein each of the triangles includes a triplicate of vertices, the triplicate of vertices including the second centroid vertex and different adjacent vertices in the order of the plurality of vertices.

3. Determining the aforementioned triangle is The method according to claim 1 or 2, further comprising decoding a centroid residual from a bitstream, wherein the decoding comprises decoding a first representation to determine whether the centroid residual is equal to zero.

4. The method according to any one of claims 1 to 3, further comprising rendering a point cloud frame associated with the portion of the point cloud based on at least one of the voxels.

5. The method according to any one of claims 1 to 4, wherein the weight is based on the distance between the vertex and each of the adjacent vertices.

6. The method according to any one of claims 1 to 5, wherein the weight of each vertex is proportional to the average or sum of the areas of two of the triangles associated with the vertex.

7. Determining the aforementioned vertex is For each of the aforementioned vertices, from the bitstream, The existence of the vertices on the edges of the rectangular parallelepiped, The method according to any one of claims 1 to 6, comprising decoding the position of the vertex along the edge.

8. The method according to any one of claims 1 to 7, wherein the plurality of vertices lie on the boundary of the rectangular parallelepiped.

9. The method according to any one of claims 1 to 8, wherein the plurality of vertices includes at least three vertices or at least four vertices.

10. The method according to claim 2, wherein the pairs of the plurality of vertices are adjacent vertices in the order described above.

11. The method according to claim 2 or 10, wherein the sequence is a periodic sequence.

12. Determining the initial centroid vertices of the aforementioned rectangular parallelepiped, The method according to any one of claims 1 to 11, further comprising determining the order of the plurality of vertices based on revolving around a direction determined based on the initial centroid vertex and the plurality of vertices.

13. A computing device, One or more processors, A computing device comprising: a memory that, when executed, stores instructions causing a wireless device to perform the method according to any one of claims 1 to 12.

14. It is a system, A first computing device configured to carry out the method described in any one of claims 1 to 12, A system comprising: a second computing device configured to encode the point cloud.

15. A computer-readable medium that stores instructions that, when executed, cause an implementation of the method according to any one of claims 1 to 12.

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