High-level syntax design for point cloud coding

Abstract

A method for point cloud coding (PCC) implemented by a video encoder and a video decoder is provided. In a method for point cloud coding, a video decoder includes steps of receiving an encoded bitstream including a data unit header and data units, the data unit header including a type indicator specifying the type of content carried in the payload of the data unit, and decoding the encoded bitstream. A video encoder includes steps of generating an encoded bitstream including a data unit header and data units, the data unit header including a type indicator specifying the type of content carried in the payload of the data unit, and transmitting the encoded bitstream to the decoder.

Description

[Technical Field]

[0001] The present disclosure relates generally to point cloud coding, and more particularly to a high-level syntax for point cloud coding. [Background technology]

[0002] Point clouds are used in a wide variety of applications, including the entertainment industry, intelligent automotive navigation, geospatial inspection, three-dimensional (3D) modeling and visualization of real-world objects, etc. Given the non-uniform sampling geometry of point clouds, a compact representation for storing and transmitting such data is useful. Compared to other 3D presentations, irregular point clouds are more versatile and applicable to a wide range of sensors and data acquisition strategies. For example, in 3D presentations in virtual reality worlds or remote rendering in telepresence environments, renderings and real-time instructions of virtual figures are processed as dense point cloud datasets. Summary of the Invention

[0003] A first aspect relates to a method for point cloud coding (PCC) implemented by a video decoder, the method comprising: receiving an encoded bitstream including a data unit header and data units, the data unit header including a type indicator specifying a type of content carried in a payload of the data unit; and decoding the encoded bitstream.

[0004] A second aspect relates to a method for point cloud coding (PCC) implemented by a video encoder, the method comprising: generating an encoded bitstream including a data unit header and a data unit, the data unit header including a type indicator specifying a type of content carried in a payload of the data unit; and transmitting the encoded bitstream to a decoder.

[0005] The method provides a high-level syntax design that solves one or more of the problems associated with point cloud coding described below, thus making the video coding process and video codecs more efficient and otherwise improved.

[0006] In a first implementation form of such a method according to the first or second aspect, the data unit header is a PCC Network Abstraction Layer (NAL) unit header.

[0007] In such a second implementation of the method according to the first or second aspect or any preceding implementation of the first or second aspect, the data unit is a PCC NAL unit.

[0008] In a third implementation of the method according to such first or second aspect or any preceding implementation of the first or second aspect, the type indicator specifies that the type of the content is a geometry component.

[0009] In a fourth implementation form of the method according to such first or second aspect or any preceding implementation form of the first or second aspect, the type indicator specifies that the type of the content is a texture component.

[0010] In a fifth implementation form of the method according to such a first or second aspect or any preceding implementation form of the first or second aspect, the type indicator specifies that the type of the content is a geometry component or a texture component.

[0011] In a sixth implementation form of the method according to such first or second aspect or any preceding implementation form of the first or second aspect, the type indicator specifies that it is auxiliary information of the type of content.

[0012] In a seventh implementation of the method according to such first or second aspect or any preceding implementation of the first or second aspect, the type indicator specifies that the type of the content is an occupancy map.

[0013] In such an eighth implementation of the method according to the first or second aspect or any previous implementation of the first or second aspect, the payload includes a High Efficiency Video Coding (HEVC) NAL unit.

[0014] In such a ninth implementation of the method according to the first or second aspect or any previous implementation of the first or second aspect, the payload includes an Advanced Video Coding (AVC) NAL unit.

[0015] In such a tenth implementation of the method according to the first or second aspect or any preceding implementation of the first or second aspect, the type indicator comprises 5 bits.

[0016] In an eleventh implementation of such a method according to the first or second aspect or any preceding implementation of the first or second aspect, the type indicator comprises 7 bits.

[0017] In a twelfth implementation of such a method according to the first or second aspect or any preceding implementation of the first or second aspect, the geometry component includes a set of coordinates associated with the point cloud frame.

[0018] In such a thirteenth implementation of the method according to the first or second aspect or any preceding implementation of the first or second aspect, the set of coordinates are Cartesian coordinates.

[0019] In a fourteenth implementation form of the method according to such first or second aspect or any previous implementation form of the first or second aspect, the texture component includes a set of luma sample values ​​of the point cloud frame.

[0020] A third aspect relates to a coding apparatus comprising: a receiver configured to receive pictures to encode or to receive a bitstream to decode; a transmitter coupled to the receiver, the transmitter configured to transmit the bitstream to a decoder or to transmit decoded images to a display; a memory coupled to at least one of the receiver or the transmitter, the memory configured to store instructions; and a processor coupled to the memory, the processor configured to execute the instructions stored in the memory to perform the method of any of the preceding aspects or implementations.

[0021] The coding device uses a high-level syntax design that solves one or more of the problems associated with point cloud coding described below, thus making the video coding process and video codecs more efficient and otherwise improved.

[0022] In a first implementation of such a device according to the third aspect, the device further comprises a display configured to display the image.

[0023] A fourth aspect relates to a system comprising an encoder and a decoder in communication with the encoder, the encoder or decoder comprising the coding apparatus of any of the preceding aspects or implementations.

[0024] The system uses a high-level syntax design that solves one or more of the problems associated with point cloud coding described below, thus making the video coding process and video codecs more efficient and otherwise improved.

[0025] A fifth aspect is a method for encoding a video signal comprising receiving means configured to receive a picture to encode or to receive a bitstream to decode, transmitting means coupled to said receiving means, said transmitting means configured to transmit said bitstream to a decoder or to transmit decoded images to a display means; a storage means coupled to at least one of said receiving means or said transmitting means, said storage means configured to store instructions; processing means, coupled to said storage means, configured to execute said instructions stored in said storage means to perform the method of any of the preceding aspects or implementations; The present invention relates to a coding means comprising:

[0026] The coding means uses a high-level syntax design that solves one or more of the problems associated with point cloud coding described below, thus making the video coding process and video codecs more efficient and otherwise improved.

[0027] For clarity, any one of the above-described embodiments may be combined with any one or more of the other above-described embodiments to create new embodiments within the scope of the present disclosure.

[0028] These and other features will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings and claims. [Brief explanation of the drawings]

[0029] For a more complete understanding of this disclosure, reference is now made to the following brief description taken in conjunction with the accompanying drawings and detailed description, wherein like reference numerals represent like elements.

[0030] [Figure 1] FIG. 1 is a block diagram illustrating an example coding system that may use context modeling techniques.

[0031] [Figure 2]FIG. 1 is a block diagram illustrating an example video encoder that may implement context modeling techniques.

[0032] [Figure 3] FIG. 1 is a block diagram illustrating an example video decoder that may implement context modeling techniques.

[0033] [Figure 4] FIG. 1 is a schematic diagram of one embodiment of a data structure compatible with a PCC.

[0034] [Figure 5] FIG. 1 is a diagram of an embodiment of a method of point cloud coding implemented by a video decoder.

[0035] [Figure 6] FIG. 1 is a diagram of an embodiment of a method of point cloud coding implemented by a video encoder.

[0036] [Figure 7] 1 is a schematic diagram of an exemplary video coding device.

[0037] [Figure 8] FIG. 2 is a schematic diagram of an embodiment of a coding means; DETAILED DESCRIPTION OF THE INVENTION

[0038] Initially, while exemplary implementations of one or more embodiments are provided below, it should be understood that the disclosed systems and / or methods may be implemented using any number of technologies, whether currently known or existing. The present disclosure should in no way be limited to the exemplary implementations, drawings, and technologies shown below, including the exemplary designs and implementations shown and described herein, but may be modified within the scope of the appended claims, as well as the full range of equivalents thereof.

[0039] Video coding standards include International Telecommunication Union Telecommunication Standardization Sector (ITU-T) H.261, International Organization for Standardization (ISO) / International Electrotechnical Commission (IEC) Moving Picture Experts Group (MPEG)-1 Part 2, Advanced Video Coding (AVC), also known as ITU-T H.262 or ISO / IEC MPEG-2 Part 2, ITU-T H.263, ISO / IEC MPEG-4 Part 2, ITU-T H.264 or ISO / IEC MPEG-4 Part 10, and High Efficiency Video Coding (HEVC), also known as ITU-T H.265 or MPEG-H Part 2. AVC includes extensions such as Scalable Video Coding (SVC), Multiview Video Coding (MVC) and Multiview Video Coding plus Depth (MVC+D), as well as 3D AVC (3D-AVC). HEVC includes extensions such as Scalable HEVC (SHVC), Multiview HEVC (MV-HEVC), and 3D HEVC (3D-HEVC).

[0040] A point cloud is a set of data points in 3D space. Each data point consists of parameters that determine its position (e.g., X, Y, Z), color (e.g., R, G, B or Y, U, V), and possibly other properties such as transparency, reflectance, acquisition time, etc. Typically, each point in the cloud has the same number of attributes attached to it. Point clouds can be used in a variety of applications, such as real-time 3D immersive telepresence, content virtual reality (VR) viewing with interactive parallax, 3D free-viewpoint sports replay broadcasting, geographic information systems, cultural heritage, autonomous navigation based on large-scale 3D dynamic maps, and automotive applications.

[0041] The ISO / IEC Moving Picture Experts Group (MPEG) began development of a new codec standard for point cloud coding in 2016 for lossless and lossy compressed point cloud data with considerable coding efficiency and robustness to network environments. This codec standard will enable point clouds to be manipulated as a form of computer data, stored on a variety of storage media, transmitted and received over existing and future networks, and distributed over existing and future broadcasting channels.

[0042] In recent years, point cloud coding (PCC) work has been divided into three categories: PCC Category 1, PCC Category 2, and PCC Category 3. Two separate working drafts have been developed, one for PCC Category 2 (PCC Cat2) and the other for PCC Categories 1 and 3 (PCC Cat13). The latest working draft (WD) for PCC Cat2 is included in MPEG output document N17534, and the latest WD for PCC Cat13 is included in MPEG output document N17533.

[0043] The main idea behind the design of the PCC Cat2 codec in PCC Cat2 WD is to leverage existing video codecs to compress the geometry and texture information of dynamic point clouds by compressing the point cloud data as a set of different video sequences. In particular, two video sequences, one representing the geometry information of the point cloud data and the other representing the texture information, are generated and compressed using the video codec. Additional metadata for interpreting the two video sequences, namely, occupancy maps and auxiliary patch information, are also generated and compressed separately.

[0044] Unfortunately, existing designs of PCC have drawbacks. For example, data units relating to one time instance, i.e., one access unit (AU), are not consecutive in decoding order. In PCC Cat2 WD, data units of texture, geometry, side information, and occupancy map for each AU are interleaved on a frame-group basis. That is, geometry data for all frames in a group is kept together. The same often applies to texture data, etc. In PCC Cat13 WD, data units of geometry and general attributes of each AU are interleaved at the level of the entire PCC bitstream (e.g., as in PCC Cat2 WD when there is only one frame group with the same length as the entire PCC bitstream). Interleaving data units belonging to one AU essentially causes a huge end-to-end delay at least equal to the length of the frame group within the presentation duration in the application system.

[0045] Another drawback relates to the bitstream format, which allows emulation of start code patterns such as 0x0003 and therefore does not work for transmission over an MPEG-2 transport stream (TS), where start code emulation prevention is necessary. For PCC Cat2, currently only group_of_frames_geometry_video_payload() and group_of_frames_texture_video_payload() have start code emulation prevention in place when either HEVC or AVC is used for coding the geometry and texture components. For PCC Cat13, start code emulation prevention is not in place anywhere in the bitstream.

[0046] In PCC Cat2 WD, some of the codec information for geometry and texture bitstreams (e.g., which codec, codec profile, level, etc.) is deeply buried in multiple instances of the structures group_of_frames_geometry_video_payload() and group_of_frames_texture_video_payload(). Furthermore, some of the information, such as profile and level, which indicates the ability to decode auxiliary information and occupancy map components and the ability for point cloud reconstruction, is lost.

[0047] Disclosed herein is a high-level syntax design that solves one or more of the aforementioned problems associated with point cloud coding. As described more fully below, this disclosure uses a type indicator in a data unit header (also referred to as a PCC Network Access Layer (NAL) header) to specify the type of content in the payload of a PCC NAL unit. This disclosure also uses a frame group header NAL unit to hold frame group header parameters. The frame group header NAL unit may be used to signal the profile and level of each geometry or texture bitstream.

[0048] 1 is a block diagram illustrating an example coding system 10 that may use PCC video coding techniques. As shown in FIG. 1, coding system 10 includes a source device 12 that provides encoded video data to be later decoded by a destination device 14. In particular, source device 12 may provide the video data to destination device 14 via a computer-readable medium 16. Source device 12 and destination device 14 may include any of a wide range of devices, including desktop computers, notebook (e.g., laptop) computers, tablet computers, set-top boxes, telephone handsets such as so-called "smart" phones and so-called "smart" pads, televisions, cameras, display devices, digital media players, video gaming consoles, video streaming devices, and the like. In some cases, source device 12 and destination device 14 may be equipped to communicate wirelessly.

[0049] The destination device 14 may receive the encoded video data to be decoded via a computer-readable medium 16. The computer-readable medium 16 may include any type of medium or device capable of moving encoded video data from the source device 12 to the destination device 14. In one example, the computer-readable medium 16 may include a communications medium to enable the source device 12 to transmit the encoded video data directly to the destination device 14 in real time. The encoded video data may be modulated according to a communications standard, such as a wireless communications protocol, and transmitted to the destination device 14. The communications medium may include any wireless or wired communications medium, such as the radio frequency (RF) spectrum or one or more physical transmission lines. The communications medium may form part of a packet-based network, such as a local area network, a wide area network, or a global network such as the Internet. The communications medium may include routers, switches, base stations, or any other equipment that may be useful in facilitating communications from the source device 12 to the destination device 14.

[0050] In some examples, the encoded data may be output from output interface 22 to a storage device. Similarly, the encoded data may be accessed from a storage device by an input interface. The storage device may include any of a variety of distributed or locally accessed data storage media, such as a hard drive, a Blu-ray disc, a digital video disc (DVD), a compact disc read-only memory (CD-ROM), flash memory, volatile or non-volatile memory, or any other digital storage medium suitable for storing encoded video data. In a further example, the storage device may correspond to a file server or another intermediate storage device that may store the encoded video generated by source device 12. Destination device 14 may access the stored video data from the storage device via streaming or download. The file server may be any type of server capable of storing encoded video data and transmitting the encoded video data to destination device 14. Examples of file servers include a web server (e.g., for a website), a file transfer protocol (FTP) server, a network-attached storage (NAS) device, or a local disk drive. Destination device 14 may access the encoded video data through any standard data connection, including an Internet connection. This may include a wireless channel (e.g., a Wi-Fi connection), a wired connection (e.g., a digital subscriber line (DSL), a cable modem, etc.), or a combination of both, suitable for accessing encoded video data stored on a file server. The transmission of the encoded video data from the storage device may be a streaming transmission, a download transmission, or a combination thereof.

[0051] The techniques of this disclosure are not necessarily limited to wireless applications or settings. The techniques may be applied to video coding in support of any of a variety of multimedia applications, such as over-the-air television broadcast, cable television transmission, satellite television transmission, Internet streaming video transmission such as Dynamic Adaptive Streaming over HTTP (DASH), digital video encoded on a data storage medium, decoding of digital video stored on a data storage medium, or other applications. In some examples, coding system 10 may be configured to support one-way or two-way video transmission to support applications such as video streaming, video playback, video broadcasting, and / or video telephony.

[0052] In the example of FIG. 1 , source device 12 includes video source 18, video encoder 20, and output interface 22. Destination device 14 includes input interface 28, video decoder 30, and display device 32. According to this disclosure, video encoder 20 of source device 12 and / or video decoder 30 of destination device 14 may be configured to apply techniques for video coding. In other examples, the source device and destination device may include other components or mechanisms. For example, source device 12 may receive video data from an external video source, such as an external camera. Similarly, destination device 14 may not include a built-in display device but may interface with an external display device.

[0053] The coding system 10 shown in FIG. 1 is merely an example. The video coding techniques may be performed by any digital video encoding and / or decoding device. While the techniques of this disclosure are generally performed by a video coding device, the techniques may also be performed by a video encoder / decoder, typically referred to as a "codec." Additionally, the techniques of this disclosure may be performed by a video preprocessor. The video encoder and / or decoder may be a graphics processing unit (GPU) or similar device.

[0054] Source device 12 and destination device 14 are merely examples of coding devices, such that source device 12 generates coded video data for transmission to destination device 14. In some examples, source device 12 and destination device 14 may operate substantially symmetrically, such that source device 12 and destination device 14 each include video encoding and decoding components. Thus, coding system 10 may support unidirectional or bidirectional video transmission between video devices 12, 14, for, e.g., video streaming, video playback, video broadcasting, or video telephony.

[0055] Video source 18 of source device 12 may include a video capture device such as a video camera, a video archive containing previously captured video, and / or a video feed interface for receiving video from a video content provider. As a further alternative, video source 18 may generate computer-graphics-based data as the source video, or a combination of live video, archival video, and computer-generated video.

[0056] In some cases, when video source 18 is a video camera, source device 12 and destination device 14 may form a so-called camera phone or video phone. However, as noted above, the techniques described in this disclosure may be applicable to video coding generally and may be applied to wireless and / or wired applications. In each case, captured, pre-captured, or computer-generated video may be encoded by video encoder 20. The encoded video information may then be output by output interface 22 onto computer-readable medium 16.

[0057] Computer-readable medium 16 may include a transitory medium, such as a wireless broadcast or wired network transmission, or a storage medium (i.e., a non-transitory storage medium), such as a hard disk, flash drive, compact disc, digital video disc, Blu-ray disc, or other computer-readable medium. In some examples, a network server (not shown) may receive encoded video data from source device 12 and provide the encoded video data to destination device 14, e.g., via a network transmission. Similarly, a computing device of a media production facility, such as a disc pressing facility, may receive encoded video data from source device 12 and produce discs including the encoded video data. Accordingly, computer-readable medium 16 may be understood to include one or more computer-readable media of various forms in various examples.

[0058] An input interface 28 of destination device 14 receives information from computer-readable medium 16. The information on computer-readable medium 16 may include syntax information defined by video encoder 20. This syntax information is also used by video decoder 30 and includes syntax elements that describe the characteristics and / or processing of blocks and other coded units, such as groups of pictures (GOPs). Display device 32 displays the decoded video data to a user and may include any of a variety of display devices, such as a cathode ray tube (CRT), a liquid crystal display (LCD), a plasma display, an organic light-emitting diode (OLED) display, or another type of display device.

[0059] Video encoder 20 and video decoder 30 may operate in accordance with a video coding standard, such as the High Efficiency Video Coding (HEVC) standard currently under development, and may conform to the HEVC Test Model (HM). Alternatively, video encoder 20 and video decoder 30 may operate in accordance with other proprietary or industry standards, such as the International Telecommunications Union Telecommunications Standardization Sector (ITU-T) H.264 standard, also known as Moving Picture Experts Group (MPEG)-4, Part 10, Advanced Video Coding (AVC), H.265 / HEVC, or extensions of such standards. However, the techniques of this disclosure are not limited to any particular coding standard. Other examples of video coding standards include MPEG-2 and ITU-T H.263. 1, in some aspects, video encoder 20 and video decoder 30 may be integrated with an audio encoder and decoder, respectively, and may include appropriate multiplexer-demultiplexer (MUX-DEMUX) units or other hardware and software to handle the encoding of both audio and video in a common data stream or separate data streams. Where applicable, the MUX-DEMUX units may conform to the ITU H.223 multiplexer protocol or other protocols, such as the User Datagram Protocol (UDP).

[0060] Video encoder 20 and video decoder 30 may each be implemented as any of a variety of suitable encoder circuits, such as one or more microprocessors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), discrete logic, software, hardware, firmware, or any combination thereof. If the techniques are implemented in part in software, a device may store instructions for the software on a suitable non-transitory computer-readable medium and execute the instructions in hardware using one or more processors to perform the techniques of this disclosure. Each of video encoder 20 and video decoder 30 may be included in one or more encoders or decoders, any of which may be incorporated as part of a combined encoder / decoder (codec) in the respective device. Devices including video encoder 20 and / or video decoder 30 may include integrated circuits, microprocessors, and / or wireless communication devices, such as a cellular phone.

[0061] 2 is a block diagram illustrating an example of a video encoder 20 that may implement video coding techniques. Video encoder 20 may perform intra-coding and inter-coding of video blocks within video slices. Intra-coding relies on spatial prediction to reduce or remove spatial redundancy in video within a given video frame or picture. Inter-coding relies on temporal prediction to reduce or remove temporal redundancy in video within adjacent frames or pictures of a video sequence. Intra-mode (I-mode) may refer to any of several spatial-based coding modes. Inter-mode, such as unidirectional (also called uni-prediction) prediction (P-mode) or bi-prediction (also called bi-prediction) (B-mode), may refer to any of several temporal-based coding modes.

[0062] As shown in FIG. 2, video encoder 20 receives a current video block in a video frame to be encoded. In the example of FIG. 2, video encoder 20 includes a mode select unit 40, a reference frame memory 64, an adder 50, a transform processing unit 52, a quantization unit 54, and an entropy coding unit 56. Mode select unit 40 further includes a motion compensation unit 44, a motion estimation unit 42, an intra-prediction (also called intra prediction) unit 46, and a partitioning unit 48. For video block reconstruction, video encoder 20 also includes an inverse quantization unit 58, an inverse transform unit 60, and an adder 62. A deblocking filter (not shown in FIG. 2) may be included to filter block boundaries to remove block artifacts from the reconstructed video. If desired, the deblocking filter typically filters the output of adder 62. In addition to the deblocking filter, additional filters (in-loop or post-loop) may also be used. Such a filter is not shown for simplicity, but the output of summer 50 may be filtered (as an in-loop filter) if desired.

[0063] During the encoding process, video encoder 20 receives a video frame or slice to be coded. The frame or slice may be divided into multiple video blocks. Motion estimation unit 42 and motion compensation unit 44 perform inter-predictive coding of the received video block relative to one or more blocks in one or more reference frames to provide temporal prediction. Intra-prediction unit 46 may alternatively perform intra-predictive coding of the received video block relative to one or more neighboring blocks in the same frame or slice as the block to be coded to provide spatial prediction. Video encoder 20 may perform multiple coding passes, for example, to select an appropriate coding mode for each block of video data.

[0064] Furthermore, partitioning unit 48 may partition blocks of video data into sub-blocks based on evaluation of previous partitioning schemes in previous coding passes. For example, partitioning unit 48 may first partition a frame or slice into largest coding units (LCUs) and then partition each of the LCUs into sub-coding units (sub-CUs) based on rate-distortion analysis (e.g., rate-distortion optimization). Mode selection unit 40 may further generate a quadtree data structure indicating the partitioning of the LCUs into sub-CUs. A leaf-node CU of the quadtree may include one or more prediction units (PUs) and one or more transform units (TUs).

[0065] This disclosure uses the term "block" to refer to any of a CU, PU, ​​or TU in the context of HEVC, or similar data structures in the context of other standards (e.g., its macroblocks and subblocks in H.264 / AVC). A CU includes a coding node, PUs, and TUs associated with the coding node. The size of a CU corresponds to the size of the coding node and is square in shape. The size of a CU may range from 8x8 pixels up to the size of a treeblock of 64x64 pixels or more. Each CU may include one or more PUs and one or more TUs. Syntax data associated with a CU may, for example, represent the partitioning of the CU into one or more PUs. The partitioning mode may differ depending on whether the CU is coded in skip or direct mode, intra-prediction mode, or inter-prediction (also referred to as inter-prediction) mode. A PU may be partitioned to be a non-square shape. The syntax data associated with a CU may represent, for example, a partitioning of the CU into one or more TUs according to a quadtree. The TUs may be square or non-square (e.g., rectangular) in shape.

[0066] Mode select unit 40 may select a coding mode, i.e., one of an intra-coding mode or an inter-coding mode, based on, for example, an error result, and provide the resulting intra-coded or inter-coded block to adder 50 for generating residual block data and to adder 62 for reconstructing a coded block to be used as a reference frame. Mode select unit 40 also provides syntax elements, such as motion vectors, intra-mode indicators, partition information, and other such syntax information, to entropy coding unit 56.

[0067] Motion estimation unit 42 and motion compensation unit 44 may be highly integrated but are shown separately for conceptual purposes. Motion estimation performed by motion estimation unit 42 is a process that generates motion vectors that estimate the motion of video blocks. A motion vector may indicate, for example, the displacement of a PU of a video block in a current video frame or picture relative to a predictive block in a reference frame (or other coded unit) relative to a current block being coded in the current frame (or other coded unit). A predictive block is a block that is found to closely match a block to be coded in terms of pixel differences, which may be determined by sum of absolute differences (SAD), sum of squared differences (SSD), or other difference metrics. In some examples, video encoder 20 may calculate values ​​at sub-integer pixel locations of reference pictures stored in reference frame memory 64. For example, video encoder 20 may interpolate values ​​at quarter-pixel, eighth-pixel, or other fractional pixel locations of a reference picture. Thus, motion estimation unit 42 may perform motion searches for whole pixel and fractional pixel positions and output motion vectors with fractional pixel accuracy.

[0068] Motion estimation unit 42 calculates a motion vector for a PU of a video block in an inter-coded slice by comparing the position of the PU with the position of a predictive block of a reference picture. The reference picture may be selected from a first reference picture list (List 0) or a second reference picture list (List 1), which each identify one or more reference pictures stored in reference frame memory 64. Motion estimation unit 42 sends the calculated motion vector to entropy encoding unit 56 and motion compensation unit 44.

[0069] The motion compensation performed by motion compensation unit 44 may involve fetching or generating a predictive block based on the motion vector determined by motion estimation unit 42. Again, motion estimation unit 42 and motion compensation unit 44 may be functionally integrated in some examples. Upon receiving the motion vector of the PU of the current video block, motion compensation unit 44 may locate the predictive block to which the motion vector points in one of the reference picture lists. Adder 50 forms a residual video block by subtracting pixel values ​​of the predictive block from pixel values ​​of the current video block being coded to form pixel difference values, as described below. Generally, motion estimation unit 42 performs motion estimation on the luma component, and motion compensation unit 44 uses the motion vector calculated based on the luma component for both the chroma and luma components. Mode select unit 40 may generate syntax elements associated with the video blocks and video slices used by video decoder 30 in decoding the video blocks of the video slices.

[0070] Intra prediction unit 46 may intra predict the current block, instead of the inter prediction performed by motion estimation unit 42 and motion compensation unit 44, as described above. In particular, intra prediction unit 46 may determine an intra prediction mode to use to encode the current block. In some examples, intra prediction unit 46 may encode the current block using different intra prediction modes, e.g., during separate encoding passes, and intra prediction unit 46 (or mode selection unit 40 in some examples) may select an appropriate intra prediction mode to use from the tested modes.

[0071] For example, intra prediction unit 46 may calculate rate-distortion values ​​for various tested intra prediction modes using rate-distortion analysis and select the intra prediction mode with the best rate-distortion characteristics from among the tested modes. Rate-distortion analysis generally determines the amount of distortion (or error) between a coded block and the original uncoded block that was coded to generate the coded block, as well as the bit rate (i.e., number of bits) used to generate the coded block. Intra prediction unit 46 may calculate a ratio from the distortion and rate of the various coded blocks to determine which intra prediction mode exhibits the best rate-distortion value for the block.

[0072] Additionally, intra-prediction unit 46 may be configured to code depth blocks of the depth map using a depth modeling mode (DMM). Mode select unit 40 may determine whether an available DMM mode produces better coding results than an intra-prediction mode and other DMM modes, such as those using rate-distortion optimization (RDO). Data for texture images corresponding to the depth map may be stored in reference frame memory 64. Motion estimation unit 42 and motion compensation unit 44 may be configured to inter-predict depth blocks of the depth map.

[0073] After selecting an intra-prediction mode for the block (e.g., one of a conventional intra-prediction mode or a DMM mode), intra-prediction unit 46 may provide information indicating the selected intra-prediction mode for the block to entropy coding unit 56. Entropy coding unit 56 may encode the information indicating the selected intra-prediction mode. Video encoder 20 may include definitions of the coding contexts for the various blocks and an indication of the most plausible intra-prediction mode, intra-prediction mode index table, and modified intra-prediction mode index table to be used for each of the contexts in transmitted bitstream configuration data, which may include multiple intra-prediction mode index tables and multiple modified intra-prediction mode index tables (also referred to as codeword mapping tables).

[0074] Video encoder 20 forms a residual video block by subtracting the prediction data from mode select unit 40 from the original video block being coded. Summer 50 represents one or more components that perform this subtraction operation.

[0075] Transform processing unit 52 applies a transform, such as a discrete cosine transform (DCT) or a conceptually similar transform, to the residual block, producing a video block containing residual transform coefficient values. Transform processing unit 52 may perform other transforms conceptually similar to the DCT. Wavelet transforms, integer transforms, subband transforms, or other types of transforms may also be used.

[0076] Transform processing unit 52 applies a transform to the residual block, generating a block of residual transform coefficients. The transform may convert the residual information from the pixel value domain to a transform domain, such as the frequency domain. Transform processing unit 52 may send the resulting transform coefficients to quantization unit 54. Quantization unit 54 quantizes the transform coefficients to further reduce the bit rate. The quantization process may reduce the bit depth associated with some or all of the coefficients. The degree of quantization may be varied by adjusting a quantization parameter. In some examples, quantization unit 54 may then perform a scan of a matrix including the quantized transform coefficients. Alternatively, entropy coding unit 56 may perform the scan.

[0077] Following quantization, entropy coding unit 56 entropy codes the quantized transform coefficients. For example, entropy coding unit 56 may perform context-adaptive variable length coding (CAVLC), context-adaptive binary arithmetic coding (CABAC), syntax-based context-adaptive binary arithmetic coding (SBAC), probability interval partitioning entropy (PIPE) coding, or another entropy coding technique. In the case of context-based entropy coding, the context may be based on neighboring blocks. Following entropy coding by entropy coding unit 56, the encoded bitstream may be transmitted to another device (e.g., video decoder 30) or archived for later transmission or retrieval.

[0078] Inverse quantization unit 58 and inverse transform unit 60 apply inverse quantization and inverse transform, respectively, to reconstruct a residual block in the pixel domain, e.g., for later use as a reference block. Motion compensation unit 44 may calculate a reference block by adding the residual block to a predictive block of one of the frames in reference frame memory 64. Motion compensation unit 44 may apply one or more interpolation filters to the reconstructed residual block to calculate sub-integer pixel values ​​for use in motion estimation. Adder 62 adds the reconstructed residual block to the motion-compensated predictive block generated by motion compensation unit 44 to generate a reconstructed video block that is stored in reference frame memory 64. The reconstructed video block may be used by motion estimation unit 42 and motion compensation unit 44 as a reference block for inter-coding blocks in subsequent video frames.

[0079] 3 is a block diagram illustrating an example of a video decoder 30 that may implement video coding techniques. In the example of FIG. 3, video decoder 30 includes an entropy decoding unit 70, a motion compensation unit 72, an intra prediction unit 74, an inverse quantization unit 76, an inverse transform unit 78, a reference frame memory 82, and an adder 80. Video decoder 30 may, in some examples, perform a decoding path that is generally the reverse of the encoding path described with respect to video encoder 20 (FIG. 2). Motion compensation unit 72 may generate prediction data based on motion vectors received from entropy decoding unit 70, while intra prediction unit 74 may generate prediction data based on an intra prediction mode indicator received from entropy decoding unit 70.

[0080] During the decoding process, video decoder 30 receives from video encoder 20 an encoded video bitstream and associated syntax elements representing video blocks of encoded video slices. Entropy decoding unit 70 of video decoder 30 entropy decodes the bitstream to generate quantized coefficients, motion vectors or intra-prediction mode indicators, and other syntax elements. Entropy decoding unit 70 sends the motion vectors and other syntax elements to motion compensation unit 72. Video decoder 30 may receive syntax elements at the video slice level and / or the video block level.

[0081] If a video slice is coded as an intra-coded (I) slice, intra prediction unit 74 may generate predictive data for video blocks of the current video slice based on the signaled intra prediction mode and data from previously decoded blocks of the current frame or picture. If a video frame is coded as an inter-coded (e.g., B, P, or GPB) slice, motion compensation unit 72 generates predictive blocks for video blocks of the current video slice based on motion vectors and other syntax elements received from entropy decoding unit 70. The predictive blocks may be generated from one of the reference pictures in one of the reference picture lists. Video decoder 30 may construct the reference frame lists, i.e., List 0 and List 1, using a default construction technique based on reference pictures stored in reference frame memory 82.

[0082] Motion compensation unit 72 determines prediction information for video blocks of the current video slice by parsing the motion vectors and other syntax elements and uses the prediction information to generate predictive blocks for the current video block being decoded. For example, motion compensation unit 72 uses some of the received syntax elements to determine the prediction mode (e.g., intra- or inter-prediction) used to code the video blocks of the video slice, the inter-prediction slice type (e.g., B slice, P slice, or GPB slice), one or more configuration information of a reference picture list for the slice, the motion vectors of each inter-coded video block of the slice, the inter-prediction status of each inter-coded video block of the slice, and other information for decoding the video blocks in the current video slice.

[0083] Motion compensation unit 72 may perform interpolation based on an interpolation filter. Motion compensation unit 72 may use an interpolation filter as used by video encoder 20 when encoding the video block to calculate sub-integer pixel interpolated values ​​of the reference block. In this case, motion compensation unit 72 may determine the interpolation filter used by video encoder 20 from the received syntax element and use that interpolation filter to generate the predictive block.

[0084] Data for texture images corresponding to the depth maps may be stored in reference frame memory 82. Motion compensation unit 72 may be configured to inter-predict depth blocks of the depth maps.

[0085] With the above in mind, some of the basic concepts of the present disclosure will now be described.

[0086] To solve the first problem described above for PCC Cat2, data units for one time instance (e.g., one access unit) should be arranged consecutively in decoding order in the bitstream. Once the data units are arranged consecutively in decoding order in the bitstream, identifying the type of each data unit enables differential routing of each data unit to the correct decoder component. This design should also avoid violating the key design behind PCC Cat2 codecs, which is to leverage existing video codecs to compress geometry and texture information of dynamic point clouds.

[0087] In order to be able to utilize existing video codecs, for example, take HEVC as an example, to compress geometry and texture information separately while obtaining one single self-contained PCC Cat2 bitstream, the following aspects should be clearly specified: (1) extraction / construction of an HEVC bitstream that matches the geometry component from the PCC Cat2 bitstream, (2) extraction / construction of an HEVC bitstream that matches the texture component from the PCC Cat2 bitstream, and (3) signaling / indication of the respective conformance points of the extracted HEVC bitstreams that match the geometry and texture components, i.e., profile, tier and level.

[0088] To solve the problems described above and to meet all of the constraints mentioned above, the present disclosure provides two alternative sets of methods for PCC high-level syntax.

[0089] In the first set of methods there is a high level syntax common to all video codecs that can be used to code the geometry and texture components of PCC Cat 2. This set of methods is summarized as follows:

[0090] FIG. 4 illustrates a data structure 400 compatible with PCC. Data structure 400 may represent a portion of a bitstream generated by an encoder and received by a decoder. As shown, a data unit header 404 (sometimes referred to as a PCC NAL unit header) is attached to each data unit 402 (sometimes referred to as a PCC NAL unit). Although one data unit 402 and one data unit header 404 are shown in data structure 400 of FIG. 4, any number of data units 402 and data unit headers 404 may be included in data structure 400 in practical applications. In practice, a bitstream including data structure 400 may include a series of data units 402, each including a data unit header 404.

[0091] The data unit header 404 may include, for example, one or two bytes. In one embodiment, each data unit 402 is formed as one PCC NAL unit. The data unit 402 includes a payload 406. In one embodiment, the data unit 406 may include a supplemental enhancement information (SEI) message, a sequence parameter set, a picture parameter set, slice information, etc.

[0092] In one embodiment, the payload 406 of the data unit 402 may be an HEVC unit or an AVC NAL unit. In one embodiment, the payload 406 may include data for a geometry component or a texture component. In one embodiment, the geometry component is a set of Cartesian coordinates associated with a point cloud frame. In one embodiment, the texture component is a set of luma sample values ​​of a point cloud frame. If HEVC is used, the data unit 402 may be referred to as a PCC NAL unit that includes an HEVC NAL unit as payload 406. If AVC is used, the data unit 402 may be referred to as a PCC NAL unit that includes an AVC NAL unit as payload 406.

[0093] In one embodiment, the data unit header 404 (eg, PCC NAL unit header) is designed as summarized below.

[0094] First, the data unit header 404 includes a type indicator, which may be, for example, 5 bits, that specifies the type of content held in the payload 406. For example, the type indicator may specify that the payload 406 contains geometry or texture information.

[0095] In one embodiment, some of the reserved data units (similar to data units 402 but reserved for later use) may be used for PCC Cat13 data units. Therefore, the design of this disclosure also applies to PCC Cat13. Therefore, it is possible to integrate PCC Cat2 and PCC Cat13 into one codec standard specification.

[0096] As mentioned above, current bitstream formats allow the emulation of start code patterns, e.g., signaling the start of a new NAL unit or a PCC NAL unit. A start code pattern may be, for example, 0x0003. Because current bitstream formats allow the emulation of start code patterns, start codes may be signaled unintentionally. This disclosure provides PCC NAL unit syntax and semantics (see below) to solve this problem. The PCC NAL unit syntax and semantics presented herein ensure the prevention of start code emulation for each PCC NAL unit, regardless of its content. Therefore, the last byte of the 1-byte or 2-byte data unit header 404 (e.g., the data unit header itself, if it is 1 byte) is prohibited from being equal to 0x00.

[0097] The frame group header 408 (also referred to as the frame group header NAL unit) is designed to hold frame header parameters. The frame group header NAL unit also includes signaling of other global information, such as the profile and level of each geometry or texture bitstream. In one embodiment, a profile is a subset of a specified syntax or a subset of a coding tool. In one embodiment, a level is a set of specified constraints on the possible values ​​of syntax elements and variables. In one embodiment, the combination of profile and level for a bitstream represents the specific decoding capabilities required for decoding the bitstream. Furthermore, if a profile and level are also specified for decoding side information, occupancy maps, and point cloud reconstruction processes (using the decoding results of geometry, texture, side information, and occupancy maps), the profile and level are also signaled in the frame group header 408. In one embodiment, PCC side information refers to information, such as patch information and point local reconstruction information, used to reconstruct a point cloud signal from a PCC-coded bitstream. In one embodiment, a PCC occupancy map refers to information about which portions of 3D space are occupied by objects from which texture values ​​and other attributes are sampled.

[0098] As shown by the following syntax, constraints on the order of different types of data units 402 (also called PCC NAL units) are clearly specified, and the start of an access unit 410 (which may include some of the data units 402, data unit headers 404, etc.) is clearly specified.

[0099] Additionally, the process of extraction / composition of each geometry or texture bitstream is clearly specified in the syntax and / or semantics described below.

[0100] In a second set of methods, a different overall syntax is used for different video codecs: PCC Cat2, which uses HEVC for geometry and texture coding, is specified as a modification to HEVC, while PCC Cat2, which uses AVC for geometry and texture coding, is specified as a modification to AVC. This set of methods is summarized as follows:

[0101] For PCC Cat2, which uses HEVC for geometry and texture coding, geometry and texture are considered as three separate layers (e.g., two layers d0 and d1 for geometry and one layer for texture). Either SEI messages or new types of NAL units are used for the occupancy map and auxiliary information. Two new SEI messages are specified, one for the occupancy map and one for the auxiliary information. Another SEI message, at the sequence level, is specified to hold frame group header parameters and other global information. This SEI message is similar to the frame group header 408 in the first set of methods.

[0102] For PCC Cat2, which uses AVC for geometry and texture coding, geometry and texture are considered as three separate layers (e.g., two layers d0 and d1 for geometry and one layer for texture). Either SEI messages or new types of NAL units are used for occupancy maps and auxiliary patch information. Signaling of independently coded non-base layer extraction and adaptation points (e.g., profile and level) as a single-layer bitstream is specified. Two new types of SEI messages are specified, one for occupancy maps and one for auxiliary information. Another SEI message, at the sequence level, is specified to hold frame group header parameters and other global information. This SEI message is similar to the frame group header 408 in the first set of methods.

[0103] The first set of methods described above can be implemented based on the definitions, abbreviations, syntax, and semantics disclosed below. Aspects not specifically mentioned are the same as for the latest PCC Cat2 WD.

[0104] The following definitions apply:

[0105] Bitstream: A series of bits that form a representation of the coded point cloud frames and associated data that form one or more CPSs.

[0106] Byte: A sequence of 8 bits where, when written or read as a sequence of bit values, the leftmost and rightmost bits represent the most and least significant bit respectively.

[0107] Coded PCC Sequence (CPS): In decoding order, a series of PCC AUs that includes a PCC Intra Random Access Picture (IRAP) AU followed by zero or more PCC AUs that are not PCC IRAP AUs, up to but including all subsequent PCC AUs up to but not including any subsequent PCC AU that is a PCC IRAP AU.

[0108] Decoding order: The order in which syntax elements are processed by the decoding process.

[0109] Decoding Process: The process specified herein (also called PCC Cat2 WD) that reads the bitstream and derives decoded point cloud frames from it.

[0110] Frame-group header NAL unit: A PCC NAL unit with PccNalUnitType equal to GOF_HEADER.

[0111] PCC AU: A set of PCC NAL units that are related to each other according to a specified classification rule, are consecutive in decoding order, and include all PCC NAL units for one particular presentation time.

[0112] PCC IRAP AU: PCC AU containing frame group header NAL unit.

[0113] PCC NAL unit: A syntax structure that contains an indication of the type of data to follow and bytes containing that data in the form of RBSPs, optionally interspersed with emulation prevention bytes.

[0114] Raw Byte Sequence Payload (RBSP): A syntax structure that is encapsulated in a PCC NAL unit and contains an integer number of bytes that is either empty or has the form of a String of Data Bits (SODB) that contains a syntax element followed by an RBSP stop bit and zero or more trailing bits equal to 0.

[0115] Raw Byte Sequence Payload (RBSP) Stop Bit: A bit equal to 1 present in the RBSP after the SODB that can identify the location of the end in the RBSP by searching from the end of the RBSP for the RBSP stop bit, which is the last non-zero bit in the RBSP.

[0116] SODB: A series of bits representing the syntax elements present in the RBSP before the RBSP stop bit, where the leftmost bit is considered the first and most significant bit and the rightmost bit is considered the last and least significant bit.

[0117] Syntax element: An element of data that is represented in a bitstream.

[0118] Syntax structure: Zero or more syntax elements that occur together in a bitstream in a specified order.

[0119] Video AU: Access unit for a specific video codec.

[0120] Video NAL unit: A PCC NAL unit with PccNalUnitType equal to GEOMETRY_D0, GEOMETRY_D1, or TEXTURE_NALU.

[0121] The following abbreviations apply:

[0122] AU Access Unit

[0123] CPS coded PCC sequence

[0124] IRAP Intra Random Access Point

[0125] NAL Network Abstraction Layer

[0126] PCC Point Cloud Coding

[0127] RBSP Raw Byte Sequence Payload

[0128] SODB String of Data Bits

[0129] Below we provide the syntax, semantics and sub-bitstream extraction process. In this regard, the syntax in section 7.3 of the latest PCC Cat2 WD is replaced by the following:

[0130] The PCC NAL unit syntax is provided. In particular, the general PCC NAL unit syntax is as follows: [Table 1]

[0131] The PCC NAL unit header syntax is as follows: [Table 2]

[0132] The raw byte sequence payload, trailing bits, and byte alignment syntax are provided. In particular, the frame group RBSP syntax is as follows: [Table 3]

[0133] The auxiliary information frame RBSP syntax is as follows: [Table 4]

[0134] The occupancy map frame RBSP syntax is as follows: [Table 5]

[0135] The RBSP trailing bit syntax in Section 7.3.2.11 of the HEVC specification applies. Similarly, the byte alignment syntax in Section 7.3.2.12 of the HEVC specification applies. The PCC profile and level syntax is as follows: [Table 6]

[0136] The semantics in section 7.4 of the latest PCC Cat2 WD are replaced by the following and its subsections:

[0137] In general, the semantics associated with syntax structures and syntax elements within those structures are specified in this subsection. When the semantics of a syntax element are specified using a table or set of tables, any values ​​not specified in the tables shall not be present in the bitstream unless otherwise specified.

[0138] PCC NAL unit semantics are described. For general PCC NAL unit semantics, the general NAL unit semantics in section 7.4.2.1 of the HEVC specification apply. The PCC NAL unit header semantics are as follows:

[0139] forbidden_zero_bit shall be equal to 0.

[0140] pcc_nuh_reserved_zero_2bits shall be equal to 0 in bitstreams conforming to this version of this specification. Other values ​​of pcc_nuh_reserved_zero_2bits are reserved for future use by ISO / IEC. Decoders shall ignore the value of pcc_nuh_reserved_zero_2bits.

[0141] pcc_nal_unit_type_plus1 minus 1 specifies the value of the variable PccNalUnitType, which specifies the type of RBSP data structure contained in the PCC NAL unit as specified in Table 1 (see below). The variable NalUnitType is specified as follows: PccNalUnitType=pcc_category2_nal_unit_type_plus1-1(7-1)

[0142] PCC NAL units with no semantic specified and nal_unit_type in the range UNSPEC25..UNSPEC30 (inclusive) shall have no effect on the decoding process specified herein.

[0143] NOTE 1 - PCC NAL unit types in the range UNSPEC25..UNSPEC30 may be used as dictated by the application. The decoding process for these values ​​of PccNalUnitType is not specified in this specification. Because different applications may use these PCC NAL unit types for different purposes, special consideration must be given to the design of encoders that generate PCC NAL units with these PccNalUnitType values ​​and to the design of decoders that interpret the content of PCC NAL units with these PccNalUnitType values. This specification does not define any management of these values. These PccNalUnitType values ​​may only be suitable for use in contexts where "conflicts" of use (e.g., different definitions of the meaning of PCC NAL unit content for the same PccNalUnitType value) are not important, not possible, or are controlled (e.g., specified or controlled within a controlling application or transport specification, or by controlling the environment in which the bitstream is distributed).

[0144] For purposes other than determining the amount of data in a decoding unit of the bitstream, a decoder shall ignore (remove and discard from the bitstream) the content of all PCC NAL units that use reserved values ​​of PccNalUnitType.

[0145] NOTE 2 - This requirement allows for the future definition of extensions that conform to this specification. Table 1 - PCC NAL unit type codes [Table 7]

[0146] NOTE 3 - The identified video codec (e.g., HEVC or AVC) is indicated in the frame group header NAL unit present in the first PCC AU of each CPS.

[0147] The encapsulation of the SODB within the RBSP (informative) is provided, and in this respect section 7.4.2.3 of the HEVC specification applies.

[0148] The order of PCC NAL units and their association to AUs and CPSs is provided. Generally, this section specifies constraints on the order of PCC NAL units in the bitstream.

[0149] Any order of PCC NAL units in a bitstream that conforms to these constraints is referred to in this document as the decoding order of the PCC NAL units. Within PCC NAL units that are not video NAL units, the syntax in Section 7.3 specifies the decoding order of the syntax elements. Within video NAL units, the syntax specified in the specification of the identified video codec specifies the decoding order of the syntax elements. A decoder is capable of receiving PCC NAL units and their syntax elements in decoding order.

[0150] The order of the PCC NAL units and their association to the PCC AUs is provided.

[0151] This section specifies the ordering of PCC NAL units and their association to PCC AUs.

[0152] A PCC AU consists of zero or one frame group header NAL unit, one geometry d0 video AU, one geometry d1 video AU, one auxiliary information frame NAL unit, one occupancy map frame NAL unit, and one texture video AU, in the listed order.

[0153] The association of NAL units with video AUs and the order of NAL units within a video AU are specified in the specification of the identified video codec, e.g., HEVC or AVC. The identified video codec is indicated in a frame header NAL unit present in the first PCC AU of each CPS.

[0154] The first PCC AU of each CPS starts with a frame header group NAL unit, and each frame group header NAL unit specifies the start of a new PCC AU.

[0155] Other PCC AUs start with the PCC NAL unit containing the first NAL unit of a geometry d0 video AU, in other words, the PCC NAL unit containing the first NAL unit of a geometry d0 video AU starts a new PCC AU if it is not preceded by a frame group header NAL unit.

[0156] The order of the PCC AUs and their association to the CPS is provided.

[0157] A bitstream conforming to this specification consists of one or more CPSs.

[0158] A CPS consists of one or more PCC AUs. The order of PCC NAL units and their association to PCC AUs is described in Section 7.4.2.4.2.

[0159] The first PCC AU in the CPS is the PCC IRAP AU.

[0160] Raw byte sequence payload, trailing bit, and byte alignment semantics are provided. The frame group header RBSP semantics are as follows:

[0161] identified_codec specifies the identified video codec used for coding the geometry and texture components as shown in Table 2. [Table 8]

[0162] frame_width indicates the frame width in pixels for geometry and texture video. It shall be a multiple of occupancyResolution.

[0163] frame_height indicates the frame height in pixels for geometry and texture video. It shall be a multiple of occupancyResolution.

[0164] occupancy_resolution indicates the horizontal and vertical resolution in pixels at which patches are packed into geometry and texture videos. This shall be an even value that is a multiple of occupancyPrecision.

[0165] radius_to_smoothing indicates the radius to find neighbors for smoothing. The value of radius_to_smoothing must be in the range of 0 to 255 (including the extreme values).

[0166] neighbor_count_smoothing indicates the maximum number of neighbors to be used for smoothing. The value of neighbor_count_smoothing shall be in the range 0 to 255 (including the extreme values).

[0167] radius2_boundary_detection indicates the radius for boundary point detection. The value of radius2_boundary_detection must be in the range of 0 to 255 (including the extreme values).

[0168] The value of threshold_smoothing is in the range of 0 to 255 (including the extreme values).

[0169] lossless_geometry indicates lossless geometry coding. A value of lossless_geometry equal to 1 indicates that the point cloud geometry information has been losslessly coded. A value of lossless_geometry equal to 0 indicates that the point cloud geometry information has been lossily coded.

[0170] lossless_texture indicates lossless texture coding. A value of lossless_texture equal to 1 indicates that the point cloud texture information is losslessly coded. A value of lossless_texture equal to 0 indicates that the point cloud texture information is lossy coded.

[0171] no_attributes indicates whether attributes have been coded along with the geometry data. A value of no_attributes equal to 1 indicates that the coded point cloud bitstream does not contain any attribute information. A value of no_attributes equal to 0 indicates that the coded point cloud bitstream does contain attribute information.

[0172] lossless_geometry_444 indicates whether to use 4:2:0 or 4:4:4 video format for geometry frames. A value of lossless_geometry_444 equal to 1 indicates that the geometry video was coded in 4:4:4 format. A value of lossless_geometry_444 equal to 0 indicates that the geometry video was coded in 4:2:0 format.

[0173] absolute_d1_coding indicates how geometry layers different from the layer closest to the projection surface were coded. absolute_d1_coding equal to 1 indicates that the actual geometry values ​​were coded with respect to geometry layers different from the layer closest to the projection surface. absolute_d1_coding equal to 0 indicates that geometry layers different from the layer closest to the projection surface were coded differentially.

[0174] bin_arithmetic_coding indicates whether binary arithmetic coding was used. A value of bin_arithmetic_coding equal to 1 indicates that binary arithmetic coding was used for all syntax elements. A value of bin_arithmetic_coding equal to 0 indicates that non-binary arithmetic coding was used for some syntax elements.

[0175] gof_header_extension_flag equal to 0 specifies that the gof_header_extension_data_flag syntax element is not present in the frame-group header RBSP syntax structure. gof_header_extension_flag equal to 1 specifies that the gof_header_extension_data_flag syntax element is present in the frame-group header RBSP syntax structure. Decoders shall ignore all data following a gof_header_extension_flag value of 1 in the frame-group header NAL unit.

[0176] gof_header_extension_data_flag may have any value. Its presence and value have no effect on decoder conformance. Decoders shall ignore all gof_header_extension_data_flag syntax elements.

[0177] Auxiliary Information Frame RBSP semantics are provided.

[0178] patch_count is the number of patches in the geometry and texture video. It must be greater than 0.

[0179] occupancy_precision is the horizontal and vertical resolution in pixels of the occupancy map precision. This corresponds to the sub-block size over which the occupancy is signaled. This should be set to size 1 to achieve lossless coding of the occupancy map.

[0180] max_candidate_count specifies the maximum number of candidates in the patch candidate list.

[0181] bit_count_u0 specifies the number of bits for fixed length coding of patch_u0.

[0182] bit_count_v0 specifies the number of bits for fixed length coding of patch_v0.

[0183] bit_count_u1 specifies the number of bits for fixed length coding of patch_u1.

[0184] bit_count_v1 specifies the number of bits for fixed length coding of patch_v1.

[0185] bit_count_d1 specifies the number of bits for fixed length coding of patch_d1.

[0186] occupancy_aux_stream_size is the number of bytes used for coding the patch information and occupancy map.

[0187] The following syntax elements are specified once per patch.

[0188] patch_u0 specifies the x-coordinate of the upper left sub-block of the patch bounding box, which is occupancy_resolution × occupancy_resolution in size. The value of patch_u0 must be in the range of 0 to frame_width / occupancy_resolution-1 (including the extreme values).

[0189] patch_v0 specifies the y-coordinate of the upper left corner sub-block of the patch bounding box of size occupancy_resolution × occupancy_resolution. The value of patch_v0 must be in the range of 0 to frame_height / occupancy_resolution-1 (including the extreme values).

[0190] patch_u1 specifies the minimum x-coordinate of the 3D bounding box of the patch point. The value of patch_u1 must be in the range 0 to frame_width-1 (inclusive).

[0191] patch_v1 is the minimum y-coordinate of the 3D bounding box of the patch point. The value of patch_v1 must be in the range 0 to frameHeight-1 (inclusive).

[0192] patch_d1 specifies the minimum depth of the patch. The value of patch_d1 must be in the range 0 to <255> (including extreme values).

[0193] delta_size_u0 is the difference in patch width between the current patch and the previous patch. The value of delta_size_u0 is <.-65536.?>~ <65535?> The range is assumed to be within the range (including the extreme values).

[0194] delta_size_v0 is the difference in patch height between the current patch and the previous patch. The value of delta_size_v0 must be in the range <-65536?.> to <.65535?.> (including the end values).

[0195] normal_axis specifies the plane projection index. The value of normal_axis shall be in the range 0 to 2 (inclusive). normalAxis values ​​of 0, 1, and 2 correspond to the X, Y, and Z projection axes, respectively.

[0196] The following syntax elements are specified once per block:

[0197] The candidate_index is an index into the patch candidate list. The value of candidate_index is in the range of 0 to max_candidate_count (including the end value).

[0198] The patch_index is an index into the patch list, sorted in descending order of size, associated with the frame.

[0199] A frame group occupancy map semantic is provided.

[0200] The following syntax elements are provided for non-empty blocks:

[0201] is_full specifies whether the current occupancy block of size occupancy_resolution x occupancy_resolution blocks is full. is_full equal to 1 specifies that the current block is full. is_full equal to 0 specifies that the current occupancy block is not full.

[0202] best_traversal_order_index specifies the scanning order of sub-blocks of size occupancy_precision × occupancy_precision in the current occupancy_resolution × occupancy_resolution block. The value of best_traversal_order_index shall be in the range of 0 to 4 (including the end values).

[0203] The run_count_prefix is ​​used to derive the variable runCountMinusTwo.

[0204] run_count_suffix is ​​used to derive the variable runCountMinusTwo. If not present, the value of run_count_suffix is ​​inferred to be equal to 0.

[0205] If the value of blockToPatch for a particular block is not equal to 0 and the block is not full, then runCountMinusTwo plus 2 represents the number of runs signaled for the block. The value of runCountMinusTwo shall be in the range 0 to (occupancy_resolution*occupancy_resolution) - 1, inclusive.

[0206] runCountMinusTwo is derived as follows: runCountMinusTwo=(1< <run_count_prefix)‐1+run_count_suffix(7-85)

[0207] occupancy specifies the occupancy value of the first sub-block (in occupancyPrecision x occupancyPrecision pixels). Occupancy equal to 0 specifies that the first sub-block is empty. Occupancy equal to 1 specifies that the first sub-block is occupied.

[0208] run_length_idx is an indication of the run length. The value of runLengthIdx is in the range of 0 to 14 (including the end values).

[0209] The variable runLength is derived from run_length_idx using Table 3. [Table 9]

[0210] Note - The occupancy map is shared by both the geometry and texture video.

[0211] The RBSP trailing bit semantics in Section 7.4.3.11 of the HEVC specification apply. The byte alignment semantics in Section 7.4.3.12 of the HEVC specification also apply. The PCC profile and level semantics are as follows:

[0212] pcc_profile_idc indicates the profile to which the CPS conforms as specified in Annex A. Bitstreams shall not contain values ​​of pcc_profile_idc different from those specified in Annex A. Other values ​​of pcc_profile_idc are reserved for future use by ISO / IEC.

[0213] pcc_pl_reserved_zero_19bits shall be equal to 0 in bitstreams conforming to this version of this specification. Other values ​​of pcc_pl_reserved_zero_19bits are reserved for future use by ISO / IEC. Decoders shall ignore the value of pcc_pl_reserved_zero_19bits.

[0214] pcc_level_idc indicates the level of conformance of the CPS as specified in Annex A. Bitstreams shall not contain values ​​of pcc_level_idc different from those specified in Annex A. Other values ​​of pcc_level_idc are reserved for future use by ISO / IEC.

[0215] hevc_ptl_12bytes_geometry shall be equal to the value of 12 bytes from general_profile_idc to general_level_idc (inclusive) in the active SPS when the geometry extracted as specified in Section 10 of the HEVC bitstream is decoded by a conforming HEVC decoder.

[0216] hevc_ptl_12bytes_texture shall be equal to the value of 12 bytes from general_profile_idc to general_level_idc (inclusive) in the active SPS when the texture HEVC bitstream extracted as specified in Section 10 is decoded by a conforming HEVC decoder.

[0217] avc_pl_3bytes_geometry shall be equal to the value of the 3 bytes from profile_idc to level_idc (inclusive) in the active SPS when the geometry AVC bitstream extracted as specified in Clause 10 is decoded by a conforming AVC decoder.

[0218] avc_pl_3bytes_texture shall be equal to the value of the 3 bytes from profile_idc to level_idc (inclusive) in the active SPS when the texture AVC bitstream extracted as specified in Clause 10 is decoded by a conforming AVC decoder.

[0219] The sub-bitstream extraction process in item 104 of the latest PCC Cat2 WD is replaced by the following: For the sub-bitstream extraction process, the input is a bitstream, i.e., a target video component indication of geometry d0, geometry d1, or texture component. The output of this process is a sub-bitstream.

[0220] In one embodiment, it is a bitstream conformance requirement with respect to the input bitstream that any output sub-bitstream that is the output of the processing specified in this section with a conforming PCC bitstream and any value of the target video component indication shall be a conforming video bitstream for each identified video codec.

[0221] The output sub-bitstreams are derived by the following ordered steps:

[0222] Depending on the value of the target video component indication the following applies:

[0223] If a geometry d0 component is indicated, remove all PCC NAL units with a PccNalUnitType not equal to GEOMETRY_D0.

[0224] Otherwise, if a geometry d1 component is indicated, remove all PCC NAL units with PccNalUnitType not equal to GEOMETRY_D1.

[0225] Otherwise (if a texture component is indicated), remove all PCC NAL units with PccNalUnitType not equal to TEXTURE_NALU.

[0226] For each PCC NAL unit, remove the first byte.

[0227] Further embodiments are provided below.

[0228] In another embodiment of the first set of methods summarized above, the PCC NAL unit header (e.g., data unit header 404 in FIG. 4) is designed so that the codec used to code the geometry and texture components can be inferred from the PCC NAL unit type. For example, the PCC NAL unit header is designed as summarized below:

[0229] The PCC NAL unit header has a type indicator, e.g., 7 bits, that specifies the type of content held in the PCC NAL unit payload. The type is determined, for example, according to the following:

[0230] 0: Payload contains HEVC NAL units

[0231] 1: Payload contains AVC NAL units

[0232] 2..63: Reserved

[0233] 64: Frame group header NAL unit

[0234] 65: Auxiliary information NAL unit

[0235] 66: Occupancy map NAL unit

[0236] 67..126: Reserved

[0237] PCC NAL units with PCC NAL unit types in the range of 0 to 63 (inclusive) are referred to as video NAL units.

[0238] It is possible to use some of the reserved PCC NAL unit types for PCC Cat13 data units, thus merging PCC Cat2 and PCC Cat13 into one standard specification.

[0239] 5 is an embodiment of a method 500 of point cloud coding implemented by a video decoder (e.g., video decoder 30). Method 500 may be performed to solve one or more of the aforementioned problems associated with point cloud coding.

[0240] An encoded bitstream (e.g., data structure 400) is received at block 502, including a data unit header (e.g., data unit header 404) and a data unit (e.g., data unit 402). The data unit header includes a type indicator that specifies the type of content carried in the payload of the data unit (e.g., payload 406).

[0241] The encoded bitstream is decoded at block 504. The decoded bitstream may be used to generate images or video that are displayed to a user on a display device.

[0242] In one embodiment, the data unit header is a PCC Network Abstraction Layer (NAL) unit header. In one embodiment, the data unit is a PCC NAL unit. In one embodiment, the indicator specifies that the type of the content is a geometry component. In one embodiment, the indicator specifies that the type of the content is a texture component. In one embodiment, the indicator specifies that the type of the content is a geometry component or a texture component.

[0243] In one embodiment, the indicator specifies that the type of the content is auxiliary information.In one embodiment, the indicator specifies that the type of the content is an occupancy map.

[0244] In one embodiment, the payload includes a High Efficiency Video Coding (HEVC) NAL unit. In one embodiment, the payload includes an Advanced Video Coding (AVC) NAL unit. In one embodiment, the type indicator includes 5 bits or 7 bits.

[0245] 6 is an embodiment of a method 600 of point cloud coding implemented by a video encoder (e.g., video encoder 20). Method 600 may be performed to solve one or more of the aforementioned problems related to point cloud coding.

[0246] At block 602, an encoded bitstream (e.g., data structure 400) is generated that includes a data unit header (e.g., data unit header 404) and a data unit (e.g., data unit 402). The data unit header includes a type indicator that specifies the type of content carried in the payload of the data unit (e.g., payload 406).

[0247] At block 604, the encoded bitstream is transmitted to a decoder (e.g., video decoder 30). Once received by the decoder, the encoded bitstream may be decoded to generate images or video that are displayed to a user on a display device.

[0248] In one embodiment, the data unit header is a PCC Network Abstraction Layer (NAL) unit header. In one embodiment, the data unit is a PCC NAL unit. In one embodiment, the indicator specifies that the type of the content is a geometry component. In one embodiment, the indicator specifies that the type of the content is a texture component. In one embodiment, the indicator specifies that the type of the content is a geometry component or a texture component.

[0249] In one embodiment, the indicator specifies that the type of the content is auxiliary information.In one embodiment, the indicator specifies that the type of the content is an occupancy map.

[0250] In one embodiment, the payload includes a High Efficiency Video Coding (HEVC) NAL unit. In one embodiment, the payload includes an Advanced Video Coding (AVC) NAL unit. In one embodiment, the type indicator includes 5 bits or 7 bits.

[0251] 7 is a schematic diagram of a video coding device 700 (e.g., video coder 20, video decoder 30, etc.) according to one embodiment of the present disclosure. The video coding device 700 is suitable for implementing the methods and processes disclosed herein. The video coding device 700 includes an ingress port 710 and a receiver unit (RX) 720 for receiving data, a processor, logic unit, or central processing unit (CPU) 730 for processing data, a transmitter unit (Tx) 740 and an egress port 750 for transmitting data, and a memory 760 for storing data. The video coding device 700 may include optical-to-electrical (OE) and electrical-to-optical (EO) components coupled to the ingress port 710, the receiver unit 720, the transmitter unit 740, and the egress port 750 for inputting or outputting optical or electrical signals.

[0252] The processor 730 is implemented by hardware and software. The processor 730 may be implemented as one or more CPU chips, cores (e.g., as a multi-core processor), field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), and digital signal processors (DSPs). The processor 730 communicates with the ingress port 710, the receiver unit 720, the transmitter unit 740, the egress port 750, and the memory 760. The processor 730 includes a coding module 770. The coding module 770 implements the embodiments described and disclosed above. Thus, the inclusion of the coding module 770 provides a significant improvement in the functionality of the coding device 700 and changes the video coding device 700 to different states. Alternatively, the coding module 770 is implemented as instructions stored in the memory 760 and executed by the processor 730.

[0253] Video coding device 700 may include input and / or output (I / O) devices 780 for communicating data to a user. I / O devices 780 may include output devices such as a display for displaying video data, speakers for outputting audio data, etc. I / O devices 780 may include input devices such as a keyboard, mouse, trackball, etc., and / or corresponding interfaces for interacting with such output devices.

[0254] Memory 760 may include one or more disks, tape drives, and solid state drives, and may be used as an overflow data storage device for storing programs when such programs are selected for execution, as well as for storing instructions and data read during program execution. Memory 760 may be volatile and non-volatile, and may be read-only memory (ROM), random access memory (RAM), ternary content addressable memory (TCAM), and static random access memory (SRAM).

[0255] 8 is a schematic diagram of one embodiment of a coding means 800. In an embodiment, the coding means 800 is implemented in a video coding device 802 (e.g., video encoder 20 or video decoder 30). The video coding device 802 includes a receiving means 801. The receiving means 801 is configured to receive pictures to encode or to receive a bitstream to decode. The video coding device 802 includes a transmitting means 807 coupled to the receiving means 801. The transmitting means 807 is configured to transmit the bitstream to a decoder or to transmit decoded images to a display means (e.g., one of the I / O devices 780).

[0256] The video coding device 802 includes a storage means 803. The storage means 803 is coupled to at least one of the receiving means 801 or the transmitting means 807. The storage means 803 is configured to store instructions. The video coding device 802 also includes a processing means 805. The processing means 805 is coupled to the storage means 803. The processing means 805 is configured to execute the instructions stored in the storage means 803 in order to perform the methods disclosed herein.

[0257] While several embodiments have been provided in this disclosure, it will be understood that the disclosed systems and methods may be embodied in many other specific forms without departing from the spirit or scope of the disclosure. The examples should be considered illustrative, not restrictive, and are not intended to be limiting to the details provided herein. For example, various elements or components may be combined or integrated in another system, or certain features may be omitted, or not implemented.

[0258] Additionally, in various embodiments, techniques, systems, subsystems, and methods described and shown as separate or distinct may be combined or integrated with other systems, components, techniques, or methods without departing from the scope of the present disclosure. Other examples of changes, substitutions, and modifications will be ascertainable by those skilled in the art, and may be made without departing from the spirit and scope of the present disclosure. (Item 1) 1. A method of point cloud coding (PCC) implemented by a video decoder, comprising: receiving an encoded bitstream including a data unit header and a data unit, the data unit header including a type indicator specifying a type of content carried in a payload of the data unit; decoding the encoded bitstream; A method comprising: (Item 2) 1. A method of point cloud coding (PCC) implemented by a video encoder, comprising: generating an encoded bitstream including a data unit header and a data unit, the data unit header including a type indicator specifying a type of content carried in a payload of the data unit; transmitting the encoded bitstream to a decoder; A method comprising: (Item 3) 3. The method of any one of items 1 to 2, wherein the data unit header is a PCC Network Abstraction Layer (NAL) unit header. (Item 4) 3. The method of any one of items 1 to 2, wherein the data unit is a PCC NAL unit. (Item 5) The method of any of items 1 to 4, wherein the type indicator specifies that the type of the content is a geometry component. (Item 6) 5. The method of any of items 1-4, wherein the type indicator specifies that the type of the content is a texture component. (Item 7) 5. The method of any of items 1 to 4, wherein the type indicator specifies that the type of the content is a geometry component or a texture component. (Item 8) 8. The method of any of items 1 to 7, wherein the type indicator specifies that the type of the content is auxiliary information. (Item 9) 9. The method of any of items 1-8, wherein the type indicator specifies that the type of the content is an occupancy map. (Item 10) 10. The method of any of items 1 to 9, wherein the payload includes a High Efficiency Video Coding (HEVC) NAL unit. (Item 11) 10. The method of any of items 1 to 9, wherein the payload includes an Advanced Video Coding (AVC) NAL unit. (Item 12) Any of items 1 to 11, wherein the type indicator includes 5 bits. (Item 13) Any of items 1 to 11, wherein the type indicator includes 7 bits. (Item 14) 8. The method of any of items 1-5 and 7, wherein the geometry component includes a set of coordinates associated with a point cloud frame. (Item 15) Item 15. The method of item 14, wherein the set of coordinates is Cartesian coordinates. (Item 16) 8. The method of any of items 1-4 and 6-7, wherein the texture component includes a set of luma sample values ​​of the point cloud frame. (Item 17) a receiver configured to receive pictures to encode or to receive a bitstream to decode; a transmitter coupled to the receiver, the transmitter configured to transmit the bitstream to a decoder or to transmit a decoded image to a display; a memory coupled to at least one of the receiver or the transmitter, the memory configured to store instructions; a processor coupled to the memory, the processor configured to execute the instructions stored in the memory to perform the method according to any one of items 1 to 16; A coding device comprising: (Item 18) Item 18. The coding device of item 17, further comprising a display configured to display the image. (Item 19) An encoder; a decoder in communication with the encoder; wherein the encoder or the decoder includes the coding device according to any one of items 17 to 18. (Item 20) receiving means configured to receive pictures to encode or to receive a bitstream to decode; transmitting means coupled to said receiving means, said transmitting means configured to transmit said bitstream to a decoder or to transmit decoded images to a display means; a storage means coupled to at least one of said receiving means or said transmitting means, said storage means configured to store instructions; processing means coupled to the storage means, the processing means being configured to execute the instructions stored in the storage means to perform the method of any one of items 1 to 16; A coding means comprising:

Claims

1. A computer-readable storage medium storing a program used for point cloud coding, which is executed by a video coding device including a receiving means and a processing means, The program causing the receiving means to perform a procedure for receiving an encoded bitstream, the encoded bitstream including a data unit header and a data unit, the data unit header including a type indicator specifying a type of content carried in a payload of the data unit; causing the processing means to identify a type of the content by reading the type indicator of the data unit header from the encoded bitstream, and decoding the encoded bitstream based on the type of content; A computer-readable storage medium.

2. The computer-readable storage medium of claim 1, wherein the encoded bitstream is a series of bits forming a representation of coded point cloud frames and associated data forming one or more coded point cloud coding (PCC) sequences (CPS).

3. 3. The computer-readable storage medium of claim 1, wherein all data units of a type not equal to the type of the content designated by the type indicator are removed.

4. The computer-readable storage medium of claim 1 , wherein the data unit header is a video-based coding unit header.

5. The computer-readable storage medium of claim 1 , wherein the data unit header is a PCC Network Abstraction Layer (NAL) unit header.

6. The computer-readable storage medium of claim 1 , wherein the data unit is a PCC NAL unit.

7. The computer-readable storage medium of claim 1 , wherein the data unit is a video-based coding unit.

8. The computer-readable storage medium of claim 1 , wherein the type indicator specifies that the type of the content is a geometry component or a texture component.

9. The computer-readable storage medium of claim 1 , wherein the type indicator is 5 bits.

10. The computer-readable storage medium of claim 1 , wherein the type indicator is 7 bits.

11. The computer-readable storage medium of claim 8 , wherein the geometry component comprises a set of coordinates associated with a point cloud frame.

12. The computer-readable storage medium of claim 11 , wherein the set of coordinates are Cartesian coordinates.

13. The computer-readable storage medium of claim 8 , wherein the texture component comprises a set of luma sample values ​​of a point cloud frame.

Images