High-level syntax design for point cloud coding

Abstract

A method for point cloud coding (PCC) implemented by a video decoder is provided. [Solution] A method of point cloud coding (PCC) implemented by a video decoder includes steps of receiving an encoded bitstream including a group of frames header that specifies a profile and level of the encoded bitstream, and decoding the encoded bitstream.

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 range of applications, including the entertainment industry, intelligent automotive navigation, geospatial inspection, three-dimensional (3D) modeling of real-world objects, and virtualization. Given the non-uniform sampling geometry of point clouds, a compact representation is beneficial for storing and transmitting such data. Compared to other 3D representations, irregular point clouds are more general and applicable to a wider range of sensors and data acquisition methods. For example, when performing 3D representations in virtual reality worlds or remote rendering in telepresence environments, rendering and real-time command of virtual shapes are processed as dense point cloud data sets. Summary of the Invention

[0003] A first aspect relates to a method of point cloud coding (PCC) implemented by a video decoder, the method including receiving an encoded bitstream including a group-of-frame header, the group-of-frame header specifying a profile and a level of the encoded bitstream, and decoding the encoded bitstream.

[0004] A second aspect relates to a method of point cloud coding (PCC) implemented by a video encoder, the method including generating an encoded bitstream including a group-of-frame header, the group-of-frame header specifying a profile and a level of the encoded bitstream, 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 related to point cloud coding described below, thus improving the video coding process and video codecs, making them more efficient, etc.

[0006] In a first implementation of the method according to the first aspect or the second aspect itself, the group of frames header is a group of frames Network Abstraction Layer (NAL) unit.

[0007] In a second implementation of the method according to the first or second aspect itself or any of the aforementioned implementations of the first or second aspect, the group of frames header is configured to carry group of frames header parameters.

[0008] In a third implementation form of the method according to the first or second aspect itself, or any of the aforementioned implementation forms of the first or second aspect, at least one of occupancy information, geometry information, and attribute information is included in the group of frames header parameters.

[0009] In a fourth implementation form of the method according to the first or second aspect itself, or any of the above-mentioned implementation forms of the first or second aspect, the group of frames header specifies a profile and level for decoding the auxiliary information of the occupancy map.

[0010] In a fifth implementation form of the method according to the first or second aspect itself, or any of the aforementioned implementation forms of the first or second aspect, the group of frames header specifies a point cloud reconstruction process that utilizes the decoding results of the geometry, texture, auxiliary information, and occupancy map.

[0011] In a sixth implementation of the method according to the first or second aspect itself, or any of the above-mentioned implementations of the first or second aspect, the profile or level indicates the ability to decode the auxiliary information and the components of the occupancy map.

[0012] In a seventh implementation of the method according to the first or second aspect itself or any of the preceding implementations of the first or second aspect, the profile or level indicates a capability of the point cloud reconstruction.

[0013] In an eighth implementation of the method according to the first or second aspect itself or any of the previous implementations of the first or second aspect, the profile is a specified subset of the syntax.

[0014] In a ninth implementation of the method according to the first or second aspect itself or any of the previous implementations of the first or second aspect, the profile is a specified subset of coding tools.

[0015] In a tenth implementation of the method according to the first or second aspect itself, or any of the above implementations of the first or second aspect, a level is a defined set of constraints on the values ​​that syntax elements and variables can use.

[0016] In an eleventh implementation of the method according to the first or second aspect itself, or in any of the above-mentioned implementations of the first or second aspect, a combination of a profile and a level of the encoded bitstream represents a specific decoding capability required for decoding the encoded bitstream.

[0017] A third aspect relates to a coding apparatus including: a receiver configured to receive and encode pictures or receive and decode a bitstream; a transmitter coupled to the receiver, configured to transmit the bitstream to a decoder or transmit decoded images to a display; a memory coupled to at least one of the receiver or the transmitter, configured to store instructions; and a processor coupled to the memory, configured to execute the instructions stored in the memory to perform the method of any of the aforementioned aspects or implementations.

[0018] The coding device utilizes a high-level syntax design that solves one or more of the problems associated with point cloud coding described below, thus improving the video coding process and video codecs, making them more efficient, etc.

[0019] In a first implementation of the device according to the third aspect itself, the device further includes a display configured to display the image.

[0020] A fourth aspect relates to a system including an encoder and a decoder in communication with the encoder, wherein the encoder or decoder includes the coding apparatus of any of the preceding aspects or implementations.

[0021] The present system utilizes a high-level syntax design that solves one or more of the problems associated with point cloud coding described below, thus improving the video coding process and video codecs, making them more efficient, etc.

[0022] A fifth aspect relates to a coding means including receiving means configured to receive and encode pictures or receive and decode a bitstream; transmitting means coupled to the receiving means, the transmitting means configured to transmit the bitstream to a decoder or transmit decoded images to a display means; storage means coupled to at least one of the receiving means or the transmitting means, the storage means configured to store instructions; and processing means coupled to the storage means, the processing means configured to execute the instructions stored in the storage means to perform the method of any of the aforementioned aspects or implementations.

[0023] The coding solution utilizes a high-level syntax design that solves one or more of the problems associated with point cloud coding described below, thus improving the video coding process and video codecs, making them more efficient, etc.

[0024] For purposes of 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.

[0025] These and other features will be clearly understood from the following detailed description taken in conjunction with the accompanying drawings and claims. [Brief explanation of the drawings]

[0026] 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 parts.

[0027] [Figure 1] FIG. 1 is a block diagram illustrating an example coding system that can utilize context modeling techniques.

[0028] [Figure 2] 1 is a block diagram illustrating an example video encoder that may implement context modeling techniques.

[0029] [Figure 3] 1 is a block diagram illustrating an example video decoder that may implement context modeling techniques.

[0030] [Figure 4] FIG. 2 is a schematic diagram of one embodiment of a PCC compatible data structure.

[0031] [Figure 5] 1 is an embodiment of a method for point cloud coding implemented by a video decoder.

[0032] [Figure 6] 1 is an embodiment of a method for point cloud coding implemented by a video encoder.

[0033] [Figure 7] 1 is a schematic diagram of an example video coding device.

[0034] [Figure 8] FIG. 1 is a schematic diagram of an embodiment of a coding means. DETAILED DESCRIPTION OF THE INVENTION

[0035] While example implementations according to one or more embodiments are provided below, it should be understood at the outset that the disclosed systems and / or methods may be implemented using any number of techniques, whether currently known or in existence. The present disclosure should in no way be limited to the example implementations, drawings, and techniques shown below, including the example designs and implementations shown and described herein, but may be modified within the scope of the appended claims, along with their full range of equivalents.

[0036] Video coding standards include the International Telecommunication Union Telecommunication Standardization Sector (ITU-T) H.261, the 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 + Depth (MVC+D), as well as AVC for 3D (3D-AVC). HEVC includes extensions such as Scalable HEVC (SHVC), Multi-View HEVC (MV-HEVC), and 3D HEVC (3D-HEVC).

[0037] A point cloud is a collection of data points in 3D space. Each data point consists of parameters that determine its location (e.g., X, Y, Z), color (e.g., R, G, B, or Y, U, V), and possibly other properties such as transmittance, reflectance, acquisition time, etc. Typically, each point in the cloud has the same number of attributes attached to it. Point clouds may be used in a variety of applications, such as real-time 3D immersive telepresence, interactive parallax content virtual reality (VR), 3D free-viewpoint sports replays, geographic information systems, cultural heritage, autonomous navigation based on large-scale 3D dynamic maps, and automotive applications.

[0038] The ISO / IEC Moving Picture Experts Group (MPEG) started developing a new codec standard for point cloud coding in 2016, which will have significantly higher coding efficiency and robustness in network environments for lossless and lossy compressed point cloud data. Using this codec standard, point clouds can be manipulated as computer data, stored on various storage media, transmitted and received over existing and future networks, and distributed over existing and future broadcast channels.

[0039] In recent years, point cloud coding (PCC) efforts have been divided into three categories: PCC Category 1, PCC Category 2, and PCC Category 3, with two separate working drafts being developed: one for PCC Category 2 (PCC Cat2) and one for PCC Category 1 and PCC Category 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.

[0040] The key principle underlying the design of the PCC Cat2 codec in the PCC Cat2 WD is to compress the dynamic point cloud geometry and texture information by utilizing an existing video codec and compressing the point cloud data as a set of separate video sequences. Specifically, 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 (i.e., occupancy maps and auxiliary patch information) are also generated and compressed separately.

[0041] Unfortunately, existing PCC designs have drawbacks. For example, data units related to one time instance (i.e., one access unit (AU)) are not consecutive in decoding order. In PCC Cat 2 WD, texture information, geometry information, auxiliary information, and occupancy map data units for each AU are interleaved at the frame group (group of frames) level. That is, the geometry data of all frames in a group is together. Texture data, etc., are often the same. In PCC Cat 13 WD, geometry data units and general attributes for each AU are interleaved at the level of the entire PCC bitstream (e.g., if there is only one group of frames (group of frames) with the same length as the entire PCC bitstream, it is the same as PCC Cat 2 WD). Interleaving data units belonging to one AU inherently introduces a large end-to-end delay, which is at least equal to the length of the group of frames in the display period of the application system.

[0042] Another drawback concerns the bitstream format, which allows the emulation of start code patterns such as 0x0003 and is therefore not useful for transmission via MPEG-2 transport streams (TS), where start code emulation prevention is required. In 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 HEVC or AVC is used to code the geometry and texture components. In PCC Cat13, start code emulation prevention is not provided anywhere in the bitstream.

[0043] In PCC Cat2 WD, some of the codec information for geometry and texture bitstreams (e.g., which codec, codec profile, level, etc.) is buried deep in multiple instances of the structures group_of_frames_geometry_video_payload( ) and group_of_frames_texture_video_payload( ). Furthermore, some information such as profile and level, which indicate the ability to decode components of the auxiliary information and occupancy map, and the ability of point cloud reconstruction, is missing.

[0044] Disclosed herein is a high-level syntax design that solves one or more of the aforementioned problems associated with point cloud coding. As explained more fully below, this disclosure utilizes a type indicator included in a data unit header (also called a PCC Network Access Layer (NAL) header) to specify the type of content in the payload of a PCC NAL unit. Furthermore, this disclosure utilizes a group-of-frames header NAL unit to carry group-of-frames header parameters. The group-of-frames header NAL unit may also be used to signal the profile and level of each geometry or texture bitstream.

[0045] FIG. 1 is a block diagram illustrating an example coding system 10 that may utilize PCC video coding techniques. As shown in FIG. 1, coding system 10 includes a source device 12 that provides encoded video data that is subsequently decoded by a destination device 14. Specifically, 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, mobile phones such as so-called "smart" phones, so-called "smart" pads, televisions, cameras, display devices, digital media players, video game consoles, or video streaming devices. In some cases, source device 12 and destination device 14 may be capable of wireless communication.

[0046] 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 the encoded video data from the source device 12 to the destination device 14. In one example, the computer-readable medium 16 may include a communication medium that enables 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 communication standard, such as a wireless communication protocol, and transmitted to the destination device 14. The communication medium may include any wireless communication medium or wired communication medium, such as the radio frequency (RF) spectrum or one or more physical transmission lines. The communication 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 communication medium may include routers, switches, base stations, or any other equipment that may help facilitate communication from the source device 12 to the destination device 14.

[0047] 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 suitable digital storage medium 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 encoded video generated by source device 12. Destination device 14 may access the stored video data from the storage device by streaming or downloading. 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. Exemplary 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. The 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.

[0048] The techniques of this disclosure are not necessarily limited to wireless applications or settings. These techniques may be applied to video coding in support of any of a variety of multimedia applications, such as over-the-air television broadcasting, cable television broadcasting, satellite television broadcasting, Internet streaming video broadcasting (e.g., Dynamically Adaptive HTTP Streaming (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.

[0049] In the example of FIG. 1 , source device 12 includes a video source 18, a video encoder 20, and an output interface 22. Destination device 14 includes an input interface 28, a video decoder 30, and a 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 video coding techniques. In other embodiments, the source device and destination device may include other components or devices. For example, source device 12 may receive video data from an external video source, such as an external camera. Similarly, destination device 14 may interface with an external display device rather than including an integrated display device.

[0050] The illustrated coding system 10 of Figure 1 is merely one 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, commonly 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.

[0051] Source device 12 and destination device 14 are merely examples of such coding devices, where 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 in a substantially symmetrical manner, 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 and 14, for example, video streaming, video playback, video broadcasting, or video telephony.

[0052] Video source 18 of originating 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 option, video source 18 may generate computer graphics-based data as source video or a combination of live, archived, and computer-generated video.

[0053] In some examples, when video source 18 is a video camera, source device 12 and destination device 14 may comprise so-called camera phones or videophones. 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, filmed, pre-filmed, or computer-generated video may be encoded by video encoder 20. The encoded video information may then be output to computer-readable medium 16 by output interface 22.

[0054] Computer-readable medium 16 may include a transitory medium, such as an over-the-air broadcast or a 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, for example, via a network transmission. Similarly, a computing device at a media production facility, such as a disc die-cutting facility, may receive encoded video data from source device 12 and produce discs containing the encoded video data. Thus, computer-readable medium 16 may be understood in various examples to include one or more computer-readable media of various forms.

[0055] 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 and also used by video decoder 30, including syntax elements that describe the characteristics and / or processing of blocks and other coded units (e.g., groups of pictures (GOPs)). Display device 32 displays the decoded video data to a user and may comprise 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.

[0056] 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 Telecommunication Union Telecommunication Standardization Sector (ITU-T) H.264 standard, or the standard 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's H.223 multiplexer protocol or other protocols such as the User Datagram Protocol (UDP).

[0057] 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. Where these techniques are implemented partially in software, a device may store software instructions 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 integrated into the respective device as part of an integrated encoder / decoder (codec). A device including video encoder 20 and / or video decoder 30 may include an integrated circuit, a microprocessor, and / or a wireless communication device, such as a cellular phone.

[0058] 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-predictive) prediction (P-mode) or bi-predictive (also called bi-predictive) (B-mode), may refer to any of several temporal-based coding modes.

[0059] 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, in turn, includes a motion compensation unit 44, a motion estimation unit 42, an intra-prediction (also referred to as intra-prediction) unit 46, and a segmentation unit 48. Video encoder 20 also includes an inverse quantization unit 58, an inverse transform unit 60, and an adder 62 for video block reconstruction. A deblocking filter (not shown in FIG. 2) may be included to filter block boundaries to remove blocky artifacts from the reconstructed image. If necessary, the deblocking filter would typically filter the output of adder 62. Additional filters (in-loop or post-loop) may also be used in addition to the deblocking filter. If desired, the output of summer 50 may be filtered (as an in-loop filter), although such a filter is not shown for simplicity.

[0060] 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 by comparing it 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 by comparing it 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 to, for example, select an appropriate coding mode for each block of video data.

[0061] Furthermore, partition unit 48 may partition each block of video data into multiple sub-blocks based on an evaluation of a previous partitioning scheme in a previous coding pass. For example, partition unit 48 may first partition a frame or slice into largest coding units (LCUs) and then partition each of the LCUs into multiple sub-coding units (sub-CUs) based on a rate-distortion analysis (e.g., rate-distortion optimization). Mode selection unit 40 may further generate a quad-tree data structure indicating the partitioning of the LCUs into multiple sub-CUs. A leaf-node CU of the quad-tree may include one or more prediction units (PUs) and one or more transform units (TUs).

[0062] 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., macroblocks and sub-blocks thereof 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, describe the partitioning of the CU into one or more PUs. The partition 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 have a non-square shape. Syntax data associated with a CU may, for example, describe the partitioning of the CU into one or more TUs according to a quadtree. The TUs can be square or non-square (eg, rectangular) in shape.

[0063] Mode select unit 40 may select one of the coding modes (intra-coding mode or inter-coding mode) based on, for example, the error result, and provide the resulting intra-coded or inter-coded block to summer 50 to generate residual block data and summer 62 to reconstruct the 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.

[0064] Motion estimation unit 42 and motion compensation unit 44 may be highly integrated but are shown separately for conceptual illustration. Motion estimation, performed by motion estimation unit 42, is the process of generating motion vectors that estimate the movement 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) compared to the current block being coded in the current frame (or other coded unit). A predictive block is a block known to closely match a block being 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 locations, eighth-pixel locations, or other fractional pixel locations of a reference picture. Thus, motion estimation unit 42 may perform motion searches for whole pixel and fractional pixel locations and output motion vectors with fractional pixel precision.

[0065] 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 in 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), each of which identifies 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.

[0066] The motion compensation performed by motion compensation unit 44 may require obtaining 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 for the PU of the current video block, motion compensation unit 44 may locate the predictive block that the motion vector points to in one of a plurality of 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. Typically, 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 also generate syntax elements associated with the video blocks and video slices for use by video decoder 30 in decoding the video blocks of the video slices.

[0067] As described above, intra prediction unit 46 may intra predict the current block as an alternative to the inter prediction performed by motion estimation unit 42 and motion compensation unit 44. Specifically, 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., in separate coding 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.

[0068] For example, intra prediction unit 46 may use rate-distortion analysis to calculate rate-distortion values ​​for various tested intra prediction modes and select the intra prediction mode with the best rate-distortion characteristics among the tested modes. Rate-distortion analysis generally determines the amount of distortion (or error) between an encoded block and the original pre-encoded block that was encoded to produce the encoded block, and the bit rate (i.e., number of bits) used to produce the encoded block. Intra prediction unit 46 may calculate a ratio from the distortion and rate of the various encoded blocks and determine which intra prediction mode exhibits the best rate-distortion value for the block.

[0069] Furthermore, intra prediction unit 46 may be configured to code the depth blocks of the depth map using a depth modeling mode (DMM). Mode selection unit 40 may determine whether an available DMM mode produces better coding results than an intra prediction mode and other DMM modes (e.g., using rate-distortion optimization (RDO)). Texture image data 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 the depth blocks of the depth map.

[0070] After selecting an intra-prediction mode for a block (e.g., a conventional intra-prediction mode or one of multiple DMM modes), 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 configuration data in the transmitted bitstream, which may include multiple intra-prediction mode index tables and multiple modified intra-prediction mode index tables (also referred to as codeword mapping tables), definitions of coding contexts for various blocks, and an indication of the most likely intra-prediction mode, intra-prediction mode index table, and modified intra-prediction mode index table to be used for each context.

[0071] 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 the component or components that perform this subtraction operation.

[0072] 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 that includes residual transform coefficient values. Transform processing unit 52 may perform other transforms that are conceptually similar to the DCT. Wavelet transforms, integer transforms, subband transforms, or other types of transforms could also be used.

[0073] Transform processing unit 52 applies a transform to the residual block to generate a block of residual transform coefficients. This 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, which quantizes the transform coefficients to further reduce the bit rate. The quantization process may reduce the bit depth associated with some or all of these coefficients. The degree of quantization may be modified by adjusting a quantization parameter. In some examples, quantization unit 54 may then perform a scan of a matrix containing the quantized transform coefficients. Alternatively, entropy coding unit 56 may perform the scan.

[0074] 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 coded bitstream may be transmitted to another device (e.g., video decoder 30) or archived for later transmission or retrieval.

[0075] Inverse quantization unit 58 and inverse transform unit 60 apply inverse quantization and inverse transformation, respectively, to reconstruct the 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 prediction block of one of multiple frames in reference frame memory 64. Motion compensation unit 44 may also 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 produced by motion compensation unit 44 to the motion-compensated prediction block to generate a reconstructed video block for storage in reference frame memory 64. The reconstructed video block may be used as a reference block by motion estimation unit 42 and motion compensation unit 44 for inter-coding a block in a subsequent video frame.

[0076] Figure 3 is a block diagram illustrating an example of a video decoder 30 that may implement video coding techniques. In the example of Figure 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 complementary to the encoding path described with respect to video encoder 20 (Figure 2). Motion compensation unit 72 may generate prediction data based on motion vectors received from entropy decoding unit 70, and intra prediction unit 74 may generate prediction data based on an intra-prediction mode indicator received from entropy decoding unit 70.

[0077] During the decoding process, video decoder 30 receives a coded video bitstream representing video blocks of coded video slices and associated syntax elements from video encoder 20. 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 forwards 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.

[0078] If a video slice is coded as an intra-coded (I) slice, intra prediction unit 74 may generate prediction data for video blocks of the current image slice based on a 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 prediction blocks for video blocks of the current image slice based on motion vectors and other syntax elements received from entropy decoding unit 70. The prediction blocks may be generated from one of multiple reference pictures in one of multiple reference picture lists. Video decoder 30 may construct the reference frame lists (List 0 and List 1) using a default construction technique based on reference pictures stored in reference frame memory 82.

[0079] Motion compensation unit 72 analyzes the motion vectors and other syntax elements to determine prediction information for video blocks of the current image slice and uses the prediction information to generate a prediction block for the decoded current video block. For example, motion compensation unit 72 uses some of the received syntax elements to determine the prediction mode (e.g., intra-prediction or inter-prediction) to use for coding the video blocks of the video slice, the type of inter-predicted slice (e.g., B slice, P slice, or GPB slice), configuration information for one or more of the slice's multiple reference picture lists, the motion vector for each inter-coded video block of the slice, the inter-prediction status for each inter-coded video block of the slice, and other information for decoding the video blocks of the current image slice.

[0080] Motion compensation unit 72 may also perform interpolation based on an interpolation filter. Motion compensation unit 72 may use an interpolation filter used by video encoder 20 in encoding the video block to calculate interpolated values ​​for sub-integer pixels 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 prediction block.

[0081] 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.

[0082] With the above in mind, some of the basic concepts of the present disclosure will now be described.

[0083] In PCC Cat2, to solve the first problem mentioned above, data units related to one time instance (e.g., one access unit) should be placed consecutively in the bitstream in decoding order. If these data units are placed consecutively in the bitstream in decoding order, identifying the type of each data unit makes it possible to route each data unit to the appropriate decoder component. This design should also be able to avoid violating the key concept underlying the PCC Cat2 codec, which is to leverage existing video codecs to compress geometry and texture information of dynamic point clouds.

[0084] Leveraging existing video codecs, e.g., taking HEVC as an example, to be able to compress geometry and texture information separately and at the same time have one self-contained PCC Cat2 bitstream, the following aspects should be clearly specified: (1) extraction / construction of conforming HEVC bitstream for geometry component from PCC Cat2 bitstream, (2) extraction / construction of conforming HEVC bitstream for texture component from PCC Cat2 bitstream, and (3) signaling / indication of the conformance points (i.e., profile, tier, level) of each of the extracted conforming HEVC bitstreams for geometry component and texture component.

[0085] To solve the above problems and to satisfy all the above constraints, the present disclosure provides two alternative sets of methods for the high-level syntax of PCC.

[0086] In the first set of methods, there is a common high-level syntax for 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:

[0087] FIG. 4 illustrates a PCC-compatible data structure 400. The data structure 400 may represent a portion of a bitstream generated by an encoder and received by a decoder. As illustrated, a data unit header 404 (sometimes referred to as a PCC NAL unit header) is added 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 the data structure 400 of FIG. 4, in actual applications, any number of data units 402 and data unit headers 404 may be included in the data structure 400. Moreover, a bitstream including the data structure 400 may include a series of data units 402, each of which may include a data unit header 404.

[0088] 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 also include a supplemental enhancement information (SEI) message, a sequence parameter set, a picture parameter set, slice information, etc.

[0089] 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 ​​for the point cloud frame. When HEVC is used, the data unit 402 may be referred to as a PCC NAL unit that includes an HEVC NAL unit as the payload 406. When AVC is used, the data unit 402 may be referred to as a PCC NAL unit that includes an AVC NAL unit as the payload 406.

[0090] In one embodiment, the data unit header 404 (eg, a PCC NAL unit header) is designed as summarized below.

[0091] First, the data unit header 404 includes a type indicator, which may be, for example, 5 bits. The type indicator specifies the type of content carried in the payload 406. For example, the type indicator may specify that the payload 406 contains geometry information or texture information.

[0092] In one embodiment, some of the reserved data units (similar to data unit 402 but reserved for later use) may be used for PCC Cat 13 data units. Therefore, the concepts of this disclosure also apply to PCC Cat 13. Therefore, it is possible to unify PCC Cat 2 and PCC Cat 13 into one codec standard specification.

[0093] As mentioned above, current bitstream formats allow for the emulation of start code patterns, for example, to signal 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 for the emulation of start code patterns, start codes may be unintentionally signaled. This disclosure provides PCC NAL unit syntax and semantics (see below) to address this issue. The PCC NAL unit syntax and semantics presented herein ensure that start code emulation is prevented for each PCC NAL unit, regardless of its content. Therefore, the last byte of a 1-byte or 2-byte data unit header 404 (e.g., the data unit header itself, if 1 byte) is prohibited from being equal to 0x00.

[0094] Furthermore, the group of frames header 408 (also referred to as a group of frames header NAL unit) is designed to carry group of frames header parameters. Furthermore, the group of frames header NAL unit 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 specified subset of a syntax or a subset of coding tools. In one embodiment, a level is a defined set of constraints on the values ​​that syntax elements and variables can use. In one embodiment, the combination of a bitstream's profile and level represents the specific decoding capabilities required for decoding the bitstream. Furthermore, if a profile and level are also specified for decoding side information and occupancy maps, and for point cloud reconstruction processing (which utilizes the decoding results of geometry, texture, side information, and occupancy maps), the profile and level are also signaled in the group of frames header 408. In one embodiment, PCC side information refers to information such as patch information and point local reconstruction information (used for reconstructing a point cloud signal from a PCC-coded bitstream). In one embodiment, a PCC occupancy map represents information about which parts of 3D space are occupied by objects whose texture values ​​and other attributes are sampled.

[0095] As shown in the syntax below, constraints on the order of different types of data units 402 (also called PCC NAL units) are explicitly specified. Furthermore, the start of an access unit 410 (which may include some of the data units 402, data unit headers 404, etc.) is explicitly specified.

[0096] Furthermore, the processes for extracting / composing each geometry or texture bitstream are clearly specified in the syntax and / or semantics described below.

[0097] In the second set of methods, different overall syntaxes are used for different video codecs: PCC Cat2, which uses HEVC for geometry and texture coding, is specified as a modification to HEVC, and 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:

[0098] In 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). SEI messages or new types of NAL units are used for occupancy maps and auxiliary information. Two new SEI messages are specified: one for occupancy maps and one for auxiliary information. Another SEI message (sequence level) is specified to carry group-of-frames header parameters and other global information. This SEI message is similar to the group-of-frames header 408 in the first set of methods.

[0099] In 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). SEI messages or new types of NAL units are used for occupancy maps and auxiliary patch information. Extraction of independently coded non-base layers and signaling of conformance points (e.g., profile and level) are specified as a single-layer bitstream. Two new types of SEI messages are specified: one for occupancy maps and one for auxiliary information. Another SEI message (sequence level) is specified to carry group-of-frames header parameters and other global information. This SEI message is similar to the group-of-frames header 408 in the first set of methods.

[0100] 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 those found in the latest PCC Cat2 WD.

[0101] The following definitions apply:

[0102] Bitstream: A sequence of bits that constitutes a representation of coded point cloud frames and associated data that form one or more CPSs.

[0103] Byte: An array of 8 bits that, when written or read as an array of bit values, has the leftmost and rightmost bits in the array representing the most significant and least significant bit, respectively.

[0104] Coded PCC Sequence (CPS): A sequence of PCC AUs, in decoding order, including a PCC Intra Random Access Picture (IRAP) AU, followed by zero or more PCC AUs that are not PCC IRAP AUs, up to and including all subsequent PCC AUs, but not including any subsequent PCC AUs that are PCC IRAP AUs.

[0105] Decoding order: The order in which syntax elements are processed by the decoding process.

[0106] Decoding process: The process specified in this specification (also called WD in PCC Cat2) that reads the bitstream and extracts the decoded point cloud frames from the bitstream.

[0107] Group of frames header NAL unit: A PCC NAL unit with PccNalUnitType equal to GOF_HEADER.

[0108] 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 that are relevant to one particular presentation time.

[0109] PCC IRAP AU: A PCC AU that contains a group of frames header NAL unit.

[0110] PCC NAL unit: A syntactic structure that contains an indication of the type of data that follows and bytes containing that data in the form of RBSP, optionally interspersed with emulation prevention bytes.

[0111] Raw Byte Sequence Payload (RBSP): A syntax structure containing an integer number of bytes that is encapsulated in a PCC NAL unit and that is either empty or has the form of a data bit string (SODB) containing syntax elements followed by an RBSP stop bit and zero or more trailing bits equal to 0.

[0112] Raw Byte Sequence Payload (RBSP) Stop Bit: A bit equal to 1 that occurs in the RBSP after the SODB. The location of the end of the RBSP can be identified by searching from the end of the RBSP for the RBSP stop bit, which is the last non-zero bit in the RBSP.

[0113] SODB: An array of bits representing the syntax element that occurs before the RBSP stop bit in the RBSP, with the leftmost bit considered to be the leading most significant bit and the rightmost bit considered to be the trailing least significant bit.

[0114] Syntax element: An element of data represented in a bitstream.

[0115] Syntax construct: Zero or more syntax elements that occur together in a bitstream in a specified order.

[0116] Video AU: An access unit per specific video codec.

[0117] Video NAL unit: A PCC NAL unit with PccNalUnitType equal to GEOMETRY_D0, GEOMETRY_D1, or TEXTURE_NALU.

[0118] The following abbreviations apply:

[0119] AU: Access Unit

[0120] CPS: coded PCC sequence

[0121] IRAP: Intra Random Access Point

[0122] NAL: Network Abstraction Layer

[0123] PCC: Point Cloud Coding

[0124] RBSP: Raw Byte Sequence Payload

[0125] SODB: String of Data Bits

[0126] The following provides the syntax, semantics, and sub-bitstream extraction process. In that regard, the syntax in section 7.3 of the latest PCC Cat2 WD is replaced by the following:

[0127] A PCC NAL unit syntax is provided. Specifically, the general PCC NAL unit syntax is as follows:

number

[0128] The PCC NAL unit header syntax is as follows:

number

[0129] The raw byte sequence payload, trailing bits, and byte alignment syntax are provided. Specifically, the group of frames RBSP syntax is as follows:

number

[0130] The auxiliary information frame RBSP syntax is as follows:

number

[0131] The occupancy map frame RBSP syntax is as follows:

number

[0132] 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 syntax for PCC profile and level is as follows:

number

[0133] The semantics in section 7.4 of the latest PCC Cat2 WD are replaced by the following and its subsections:

[0134] In general, the semantics associated with syntax structures and syntax elements within those structures are specified in this subclause. When the semantics of a syntax element are specified using a table or set of tables, any value not specified in the tables shall not be present in the bitstream unless otherwise specified.

[0135] The semantics of PCC NAL units 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 semantics of the PCC NAL unit header are as follows:

[0136] forbidden_zero_bit shall be equal to 0.

[0137] pcc_nuh_reserved_zero_2bits shall be equal to 0 for bitstreams conforming to this version of this specification. Other values ​​of pcc_nuh_reserved_zero_2bits are reserved by ISO / IEC for future use. Decoders shall ignore the value of pcc_nuh_reserved_zero_2bits.

[0138] pcc_nal_unit_type_plus1-1 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)

[0139] PCC NAL units with unspecified semantics and a nal_unit_type in the range UNSPEC25 to UNSPEC30 (inclusive) shall have no effect on the decoding process specified herein.

[0140] NOTE 1: PCC NAL unit types within the range of UNSPEC25 to UNSPEC30 may be used as determined 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 care must be taken in designing encoders that generate PCC NAL units using these PccNalUnitType values ​​and decoders that interpret the content of PCC NAL units using these PccNalUnitType values. This specification does not specify any management of these values. These PccNalUnitType values ​​may be preferred only for use in contexts where usage "mismatches" (e.g., different definitions of the meaning of PCC NAL unit content for the same PccNalUnitType value) are inconsequential, impossible, or controlled (e.g., specified or managed by a controlling application or transport specification, or by controlling the environment in which the bitstream is delivered).

[0141] For purposes other than determining the amount of data in a decoding unit of the bitstream, a decoder shall ignore (remove from the bitstream and discard) the content of all PCC NAL units that use reserved values ​​of PccNalUnitType.

[0142] NOTE 2: This requirement allows for the future definition of compatible extensions to this specification. [Table 1]

[0143] NOTE 3: The identified video codec (eg, HEVC or AVC) is indicated in the group of frames header NAL unit present in the first PCC AU of each CPS.

[0144] The encapsulation of the SODB within the RBSP is provided, in which respect section 7.4.2.3 of the HEVC specification applies.

[0145] An ordering of PCC NAL units and their association to AUs and CPSs is provided. In general, this section specifies constraints on the ordering of PCC NAL units in a bitstream.

[0146] Any order of PCC NAL units in a bitstream that conforms to these constraints is referred to herein as the decoding order of the PCC NAL units. For PCC NAL units that are not video NAL units, the syntax in section 7.3 specifies the decoding order of the syntax elements. For video NAL units, the syntax specified in the specification of the identified video codec specifies the decoding order of the syntax elements. A decoder can receive PCC NAL units and their syntax elements in decoding order.

[0147] An ordering of PCC NAL units and their association to PCC AUs is provided.

[0148] This section specifies the ordering of PCC NAL units and their association to PCC AUs.

[0149] A PCC AU contains zero or one group of frames 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.

[0150] The association of NAL units to 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.

[0151] The first PCC AU of each CPS begins with a group of frames header NAL unit, and each group of frames header NAL unit specifies the start of a new PCC AU.

[0152] Other PCC AUs start with the PCC NAL unit that contains the first NAL unit of a geometry d0 video AU, in other words, the PCC NAL unit that contains the first NAL unit of a geometry d0 video AU starts a new PCC AU if it is not preceded by a group of frames header NAL unit.

[0153] An ordering of PCC AUs and their association to the CPS is provided.

[0154] A bitstream conforming to this specification is made up of one or more CPSs.

[0155] A CPS contains one or more PCC AUs. The ordering of PCC NAL units and their association to the PCC AUs is described in Section 7.4.2.4.2.

[0156] The first PCC AU in a CPS is the PCC IRAP AU.

[0157] Raw byte sequence payload, trailing bit, and byte alignment semantics are provided. Group of Frame Header RBSP semantics are as follows:

[0158] identified_codec specifies the identified video codec used to code the geometry and texture components shown in Table 2. [Table 2]

[0159] frame_width indicates the frame width in pixels for geometry and texture images. It shall be a multiple of occupancyResolution.

[0160] frame_height indicates the frame height in pixels of the geometry and texture images. It shall be a multiple of occupancyResolution.

[0161] occupancy_resolution indicates the horizontal and vertical resolution in pixels at which patches are packed into geometry and texture images. It shall be an even multiple of occupancyPrecision.

[0162] radius_to_smoothing indicates the radius for detecting neighbors for smoothing. The value of radius_to_smoothing must be in the range 0 to 255 (inclusive).

[0163] 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 (inclusive).

[0164] 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 (inclusive).

[0165] threshold_smoothing indicates the smoothing threshold. The value of threshold_smoothing must be in the range of 0 to 255 (inclusive).

[0166] lossless_geometry indicates lossless geometry coding. A value of lossless_geometry equal to 1 indicates that the point cloud geometry information is coded losslessly. A value of lossless_geometry equal to 0 indicates that the point cloud geometry information is coded in a lossy manner.

[0167] 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.

[0168] no_attributes indicates whether attributes are 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.

[0169] lossless_geometry_444 indicates whether the 4:2:0 or 4:4:4 video format is used for geometry frames. A value of lossless_geometry_444 equal to 1 indicates that the geometry video is coded in 4:4:4 format. A value of lossless_geometry_444 equal to 0 indicates that the geometry video is coded in 4:2:0 format.

[0170] absolute_d1_coding indicates how geometry layers other than the layer closest to the projection surface are coded. absolute_d1_coding equal to 1 indicates that the actual geometry values ​​are coded for geometry layers other than the layer closest to the projection surface. absolute_d1_coding equal to 0 indicates that geometry layers other than the layer closest to the projection surface are coded separately.

[0171] bin_arithmetic_coding indicates whether binary arithmetic coding is used. A value of bin_arithmetic_coding equal to 1 indicates that binary arithmetic coding is used for all syntax elements. A value of bin_arithmetic_coding equal to 0 indicates that non-binary arithmetic coding is used for some syntax elements.

[0172] gof_header_extension_flag equal to 0 specifies that no gof_header_extension_data_flag syntax element is present in the group of frames header RBSP syntax structure. gof_header_extension_flag equal to 1 specifies that there is a gof_header_extension_data_flag syntax element present in the group of frames header RBSP syntax structure. Decoders shall ignore all data following a value of 1 for gof_header_extension_flag in the group of frames header NAL unit.

[0173] gof_header_extension_data_flag may have any value. Its presence and value do not affect decoder conformance. Decoders shall ignore all gof_header_extension_data_flag syntax elements.

[0174] Auxiliary Information Frame RBSP semantics are provided.

[0175] patch_count is the number of patches contained in the geometry and texture images. It must be greater than 0.

[0176] occupancy_precision is the horizontal and vertical resolution in pixels of the occupancy map precision. This corresponds to the sub-block size over which occupancy is signaled. To achieve lossless coding of the occupancy map, this should be set to size 1.

[0177] max_candidate_count specifies the maximum number of candidates in the patch candidate list.

[0178] bit_count_u0 specifies the number of bits in the fixed length coding of patch_u0.

[0179] bit_count_v0 specifies the number of bits in the fixed length coding of patch_v0.

[0180] bit_count_u1 specifies the number of bits in the fixed length coding of patch_u1.

[0181] bit_count_v1 specifies the number of bits in the fixed length coding of patch_v1.

[0182] bit_count_d1 specifies the number of bits in the fixed length coding of patch_d1.

[0183] occupancy_aux_stream_size is the number of bytes used to code the patch information and occupancy map.

[0184] The following syntax elements are specified once per patch:

[0185] patch_u0 specifies the x-coordinate of the sub-block in the upper left corner of the patch bounding box of size [occupancy_resolution] × [occupancy_resolution]. The value of patch_u0 must be in the range 0 to [frame_width / occupancy_resolution-1] (inclusive).

[0186] patch_v0 specifies the y-coordinate of the sub-block in the upper left corner of the patch bounding box of size [occupancy_resolution] × [occupancy_resolution]. The value of patch_v0 must be in the range 0 to [frame_height / occupancy_resolution-1] (inclusive).

[0187] patch_u1 specifies the minimum x-coordinate of the 3D bounding box of the patch points. The value of patch_u1 must be in the range 0 to [frame_width-1] inclusive.

[0188] 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.

[0189] patch_d1 specifies the minimum depth of the patch. The value of patch_d1 must be in the range 0 to <255> (inclusive).

[0190] 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?> (inclusive) range.

[0191] delta_size_v0 is the difference in patch height between the current patch and the previous patch. The value of delta_size_v0 is <-65536?>~ <65535?> (inclusive) range.

[0192] normal_axis specifies the surface 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.

[0193] The following syntax elements are specified once per block:

[0194] The candidate_index is an index in the patch candidate list. The value of candidate_index is in the range of 0 to max_candidate_count (inclusive).

[0195] patch_index is an index into the patch list sorted in descending order of size relative to the frame.

[0196] Group-of-frame occupancy map semantics are provided.

[0197] The following syntax elements are provided for non-empty blocks:

[0198] is_full specifies whether the current occupied block of blocks of size [occupancy_resolution] x [occupancy_resolution] is full. is_full equal to 1 specifies that the current block is full. is_full equal to 0 specifies that the current occupied block is not full.

[0199] best_traversal_order_index specifies the scan order for sub-blocks of size [occupancy_precision] × [occupancy_precision] of the current [occupancy_resolution] × [occupancy_resolution] block. The value of best_traversal_order_index must be in the range 0 to 4 (inclusive).

[0200] The run_count_prefix is ​​used to derive the variable runCountMinusTwo.

[0201] 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.

[0202] If the value of blockToPatch for a particular block is not equal to 0 and the block is not full, then runCountMinusTwo+2 represents the number of runs to signal for a block. The value of runCountMinusTwo shall be in the range 0 to ([occupancy_resolution] * [occupancy_resolution] - 1), inclusive.

[0203] runCountMinusTwo is derived as follows: runCountMinusTwo=(1< <run_count_prefix)-1+run_count_suffix (7-85)

[0204] Occupancy specifies the occupancy value for 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.

[0205] run_length_idx is an indication of the run length. The value of runLengthIdx shall be in the range 0 to 14 (inclusive).

[0206] The variable runLength is derived from run_length_idx using Table 3. [Table 3]

[0207] Note: The occupancy map is shared by both geometry and texture images.

[0208] 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 semantics of the PCC profile and level are as follows:

[0209] 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 other than those specified in Annex A. Other values ​​of pcc_profile_idc are reserved for future use by ISO / IEC.

[0210] 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 values ​​of pcc_pl_reserved_zero_19bits.

[0211] pcc_level_idc indicates the level to which the CPS conforms, as specified in Annex A. Bitstreams shall not contain values ​​of pcc_level_idc other than those specified in Annex A. Other values ​​of pcc_level_idc are reserved for future use by ISO / IEC.

[0212] Geometry extracted as specified in Clause 10. In an active SPS when the HEVC bitstream is decoded by a conforming HEVC decoder, hevc_ptl_12bytes_geometry shall be equal to the value of 12 bytes from general_profile_idc to general_level_idc (inclusive).

[0213] In an active SPS where the texture extracted as specified in Clause 10 HEVC bitstream is decoded by a conforming HEVC decoder, hevc_ptl_12bytes_texture shall be equal to the value of 12 bytes from general_profile_idc to general_level_idc (inclusive).

[0214] Geometry extracted as specified in Clause 10. In an active SPS when the AVC bitstream is decoded by a compliant AVC decoder, avc_pl_3ytes_geometry shall be equal to the value of the 3 bytes from profile_idc to level_idc (inclusive).

[0215] Texture extracted as specified in Clause 10. In the active SPS when the AVC bitstream is decoded by a compliant AVC decoder, avc_pl_3ytes_texture shall be equal to the value of the 3 bytes from profile_idc to level_idc (inclusive).

[0216] The sub-bitstream extraction process in Clause 104 of the latest PCC Cat2 WD is replaced by the following: In the sub-bitstream extraction process, the inputs are a bitstream and a target video component indication of geometry d0, geometry d1, or texture component. The output of this process is a sub-bitstream.

[0217] In one embodiment, it is a bitstream conformance requirement of an input bitstream that any output sub-bitstream that is the output of the processing specified in this section, having a conforming PCC bitstream and any value of the target video component indication, shall be a conforming video bitstream for each identified video codec.

[0218] The output sub-bitstreams are derived by the following ordered steps:

[0219] Depending on the value of the target video component indication, the following applies:

[0220] If the geometry d0 component is indicated, remove all PCC NAL units with a PccNalUnitType not equal to GEOMETRY_D0.

[0221] Otherwise, if a geometry d1 component is indicated, remove all PCC NAL units with a PccNalUnitType not equal to GEOMETRY_D1.

[0222] Otherwise (if a texture component is indicated), remove all PCC NAL units with PccNalUnitType not equal to TEXTURE_NALU.

[0223] For each PCC NAL unit, remove the first byte.

[0224] Further embodiments are provided below.

[0225] In another embodiment of the first set of methods summarized above, the PCC NAL unit header (e.g., data unit header 404 of FIG. 4) is designed so that the codecs 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:

[0226] In the PCC NAL unit header, there is a type indicator (e.g., 7 bits) that specifies the type of content carried in the PCC NAL unit payload. The type is determined, for example, according to the following:

[0227] 0: The payload contains an HEVC NAL unit.

[0228] 1: The payload contains AVC NAL units.

[0229] 2~63: Reserved.

[0230] 64: Group of frames header NAL unit.

[0231] 65: Auxiliary information NAL unit.

[0232] 66: Occupancy map NAL unit.

[0233] 67~126: Reserved.

[0234] PCC NAL units with a PCC NAL unit type in the range of 0 to 63 (inclusive) are called video NAL units.

[0235] Some of the reserved PCC NAL unit types can be used for PCC Cat13 data units, thus allowing PCC Cat2 and PCC Cat13 to be integrated into one standard specification.

[0236] 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 related to point cloud coding.

[0237] In block 502, an encoded bitstream (e.g., data structure 400) is received that includes a group of frames header (e.g., group of frames header 408). The group of frames header specifies the profile and level of the encoded bitstream.

[0238] The encoded bitstream is decoded at block 504. The decoded bitstream may be used to generate images or video for display to a user on a display device.

[0239] In one embodiment, the group of frames header is a group of frames Network Abstraction Layer (NAL) unit. In one embodiment, the group of frames header is configured to carry group of frames header parameters.

[0240] In one embodiment, at least one of occupancy information, geometry information, and attribute information is included in the group of frames header parameters. In addition to having a 3D position (i.e., spatial attributes), each point in the PCC signal may also be associated with multiple other attributes such as color, reflectance, surface normal, etc.

[0241] In one embodiment, the group of frames header specifies a profile and level for decoding the auxiliary information of the occupancy map. In one embodiment, the group of frames header specifies a point cloud reconstruction process that utilizes the geometry information, texture information, auxiliary information, and the decoded results of the occupancy map.

[0242] 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 associated with point cloud coding.

[0243] In block 602, an encoded bitstream (e.g., data structure 400) is generated that includes a group of frames header (e.g., group of frames header 408). The group of frames header specifies the profile and level of the encoded bitstream.

[0244] 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 for display to a user on a display device.

[0245] In one embodiment, the group of frames header is a group of frames Network Abstraction Layer (NAL) unit. In one embodiment, the group of frames header is configured to carry group of frames header parameters.

[0246] In one embodiment, at least one of occupancy information, geometry information, and attribute information is included in the group of frames header parameters. In addition to having a 3D position (i.e., spatial attributes), each point in the PCC signal may also be associated with multiple other attributes such as color, reflectance, surface normal, etc.

[0247] In one embodiment, the group of frames header specifies a profile and level for decoding the auxiliary information of the occupancy map. In one embodiment, the group of frames header specifies a point cloud reconstruction process that utilizes the geometry information, texture information, auxiliary information, and the decoded results of the occupancy map.

[0248] 7 is a schematic diagram of a video coding device 700 (e.g., video encoder 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 the data, a transmitter unit (Tx) 740 and an egress port 750 for transmitting the data, and a memory 760 for storing the data. The video coding device 700 may also include optical-to-electrical (OE) and electrical-to-optical (EO) conversion components for the egress or ingress of optical or electrical signals coupled to the ingress port 710, the receiver unit 720, the transmitter unit 740, and the egress port 750.

[0249] The processor 730 is implemented in 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 above-disclosed embodiments. Thus, the inclusion of the coding module 770 significantly improves the functionality of the coding device 700 and can transition 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.

[0250] Video coding device 700 may also include input and / or output (I / O) devices 780 for communicating data to and from a user. I / O devices 780 may include output devices such as a display for displaying video data and speakers for outputting audio data. I / O devices 780 may also include input devices such as a keyboard, mouse, trackball, etc., and / or corresponding interfaces for interacting with such output devices.

[0251] Memory 760 may include one or more disk drives, tape drives, and solid state drives, and may be used to store programs as overflow data storage devices and to store instructions and data that are read during program execution when such programs are selected for execution. Memory 760 may be volatile or non-volatile, and may be read-only memory (ROM), random access memory (RAM), ternary content addressable memory (TCAM), and static random access memory (SRAM).

[0252] 8 is a schematic diagram of one embodiment of a coding means 800. In this 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 pictures to a display means (e.g., one of the plurality of I / O devices 780).

[0253] 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 and to perform the methods disclosed herein.

[0254] While several embodiments are 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 exemplary rather than restrictive, and are not intended to be limited 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.

[0255] Furthermore, techniques, systems, subsystems, and methods described or shown as separate or independent in various embodiments 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 alterations may 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) performed by a video decoder, comprising: receiving an encoded bitstream including a group of frames header, the group of frames header specifying a profile and a level of the encoded bitstream; decoding the encoded bitstream; A method for providing the above. (Item 2) 1. A method of point cloud coding (PCC) implemented by a video encoder, comprising: generating an encoded bitstream including a group of frames header, the group of frames header specifying a profile and a level of the encoded bitstream; transmitting the encoded bitstream to a decoder; A method for providing the above. (Item 3) 3. The method according to any one of items 1 to 2, wherein the group of frames header is a group of frames Network Abstraction Layer (NAL) unit. (Item 4) 4. The method of any one of items 1 to 3, wherein the group of frames header is configured to carry group of frames header parameters. (Item 5) 5. The method according to any one of items 1 to 4, wherein at least one of occupancy information, geometry information, and attribute information is included in the group of frames header parameters. (Item 6) 6. The method according to any one of items 1 to 5, wherein the group of frames header specifies the profile and the level for decoding auxiliary information of an occupancy map. (Item 7) 7. The method according to any one of items 1 to 6, wherein the group of frames header specifies a point cloud reconstruction process that utilizes the decoded results of geometry, texture, side information, and occupancy map. (Item 8) 7. The method according to any one of items 1 to 6, wherein the profile or the level indicates the ability to decode auxiliary information and components of an occupancy map. (Item 9) 7. The method according to any one of items 1 to 6, wherein the profile or the level indicates a capability of point cloud reconstruction. (Item 10) 7. The method of any of items 1 to 6, wherein the profile is a specified subset of the syntax. (Item 11) 7. The method of any of items 1 to 6, wherein the profile is a designated subset of coding tools. (Item 12) 7. The method according to any of items 1 to 6, wherein the levels are defined sets of constraints on the values ​​that syntax elements and variables can take. (Item 13) 7. The method of any of items 1 to 6, wherein a combination of the profile and the level of the encoded bitstream represents a particular decoding capability required for decoding the encoded bitstream. (Item 14) 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 items 1 to 13; A coding device comprising: (Item 15) Item 9. The coding device of item 8, wherein the encoding device further comprises a display configured to display the image. (Item 16) an encoder; a decoder in communication with the encoder, the encoder or the decoder comprising a coding device according to any one of items 14 to 15; A system comprising: (Item 17) A means for coding, comprising: receiving means configured to receive pictures to encode or to receive a bitstream to decode; a transmitting means coupled to the receiving means, the transmitting means being configured to transmit the bitstream to a decoder or to transmit a decoded image to a display means; a storage means coupled to at least one of the receiving means or the transmitting means, the storage means configured to store instructions; processing means coupled to said storage means, said processing means being configured to execute said instructions stored in said storage means to perform the method of any of claims 1 to 13; A means for encoding, comprising:

Claims

1. A computer-readable storage medium storing a program used for point cloud coding executed by a video coding device having a receiving means and a processing means, comprising: The program causing the receiving means to receive an encoded bitstream, the encoded bitstream including a group of frames header, the group of frames header specifying a profile and a level of the encoded bitstream; causing the processing means to identify the profile and the level of the encoded bitstream by reading the group of frames header from the encoded bitstream; and decoding the encoded bitstream based on the profile and the level of the encoded bitstream. 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 according to claim 1, wherein the processing means decodes auxiliary information of an occupancy map based on the profile and the level specified in the group of frames header.

4. The computer-readable storage medium of claim 3, wherein the auxiliary information includes patch information and point cloud local reconstruction information used to reconstruct a point cloud signal from a PCC-encoded bitstream.

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

6. The computer-readable storage medium of claim 1 , wherein the group of frames header is configured to carry group of frames header parameters.

7. The computer-readable storage medium of claim 6 , wherein at least one of occupancy map information, geometry information, and texture information is included in the group of frames header parameters.

8. The computer-readable storage medium of claim 3 or 4, wherein the group of frames header specifies the profile and the level for decoding the auxiliary information and the occupancy map.

9. The computer-readable storage medium of claim 1 , wherein the group of frames header specifies a point cloud reconstruction process that utilizes the decoded results of geometry, texture, side information, and occupancy maps.

10. The computer-readable storage medium of claim 1 , wherein the profile or the level indicates a capability to decode auxiliary information and components of an occupancy map.

11. The computer-readable storage medium of claim 1 , wherein the profile or the level indicates a capability of point cloud reconstruction.

12. The computer-readable storage medium of claim 1 , wherein the profile is a specified subset of a syntax.

13. The computer-readable storage medium of claim 1 , wherein the profile is a designated subset of coding tools.

14. The computer-readable storage medium of claim 1 , wherein the level is a defined set of constraints on values ​​that may be used by syntax elements and variables.

15. 9. The computer-readable storage medium of claim 1, wherein a combination of the profile and the level of the encoded bitstream represents a particular decoding capability required to decode the encoded bitstream.

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