Method and apparatus for compressing and decompressing three-dimensional (3D) map

1 . An apparatus for compressing a three-dimensional (3D) map, wherein the apparatus comprises one or more processors and a memory coupled to the one or more processors, the memory comprises instructions, and when the instructions are executed by the one or more processors, cause the apparatus to perform:

obtaining a 3D map descriptor, wherein the 3D map descriptor corresponds to at least one 3D map point of the 3D map;

performing binarization on a relationship between the 3D map descriptor and at least one preset threshold vector to obtain binary data; and

performing quantization on a difference between the 3D map descriptor and the at least one preset threshold vector to obtain quantized data;

encapsulating the binary data and the quantized data to obtain a bitstream of the 3D map; and performing one of:

receiving 3D map request information sent by an electronic device, and sending, to the electronic device in response to the 3D map request information, the bitstream of the 3D map corresponding to the 3D map request information; or

sending the bitstream of the 3D map to a server,

wherein the at least one preset threshold vector comprises N preset threshold vectors, wherein each preset threshold vector comprises a plurality of components each corresponding to a dimension of the preset threshold vector, wherein components at a same position of the N preset threshold vectors successively increase or decrease, and successively increasing indicates that any component of an i th preset threshold vector in the N preset threshold vectors is greater than or equal to a component at a same position of an (i−1) th preset threshold vector, and successively decreasing indicates that any component of the i th preset threshold vector in the N preset threshold vectors is less than or equal to a component at a same position of the (i−1) th preset threshold vector, wherein 2≤i≤N;

wherein each bit of the binary data corresponds to a particular component of a particular preset threshold vector and indicates whether that particular component of that particular preset threshold vector is selected for quantization.

2 . The apparatus according to claim 1 , wherein the relationship between the 3D map descriptor and the at least one preset threshold vector comprises a magnitude relationship between each component of the 3D map descriptor and a corresponding component of the at least one preset threshold vector.

3 . The apparatus according to claim 2 , wherein the instructions further comprise:

subtracting, from each component of the 3D map descriptor, the corresponding component of the at least one preset threshold vector, to obtain a difference value of each component; and

determining the magnitude relationship based on the difference value of each component.

4 . The apparatus according to claim 2 , wherein one preset threshold vector in the at least one preset threshold vector used for the binarization is a minimum threshold vector or a maximum threshold vector, each component of the minimum threshold vector is less than or equal to a minimum value of a value range of a corresponding component of the 3D map descriptor, and each component of the maximum threshold vector is greater than or equal to a maximum value of a value range of a corresponding component of the 3D map descriptor.

5 . The apparatus according to claim 1 , wherein the difference between the 3D map descriptor and the at least one preset threshold vector comprises: a difference value between or an absolute value of a difference value between each component of the 3D map descriptor and the corresponding component of the at least one preset threshold vector.

6 . The apparatus according to claim 1 , wherein at least one component of the at least one preset threshold vector used for the quantization is any one of corresponding components of the at least one preset threshold vector used for the binarization.

7 . The apparatus according to claim 1 , wherein the at least one preset threshold vector used for the quantization is the same as the at least one preset threshold vector indicated by the binary data for quantization.

8 . The apparatus according to claim 7 , wherein at least one component of the at least one preset threshold vector used for the quantization is obtained based on the binary data.

9 . The apparatus according to claim 1 , wherein at least one bit in the binary data further indicates a quantity of bits in the quantized data.

10 . An apparatus for decompressing a three-dimensional (3D) map, wherein the apparatus comprises one or more processors and a memory coupled to the one or more processors, the memory comprises instructions, and when the instructions are executed by the one or more processors, cause the apparatus to perform:

obtaining compressed data of the 3D map, wherein the compressed data comprises compressed data of a 3D map descriptor, wherein the compressed data of a 3D map descriptor comprises binary data and quantized data; and

obtaining a reconstructed 3D map descriptor based on the binary data and the quantized data;

performing dequantization on the quantized data to obtain a difference between the 3D map descriptor and at least one preset threshold vector; and

obtaining the reconstructed 3D map descriptor based on the difference, the binary data, and the at least one preset threshold vector, wherein the binary data indicates a relationship between the 3D map descriptor and the at least one preset threshold vector,

wherein the at least one preset threshold vector is determined based on the binary data and N preset threshold vectors, wherein

components at a same position of the N preset threshold vectors successively increase or decrease, wherein N is an integer greater than 1; and successively increasing indicates that any component of an i th preset threshold vector in the N preset threshold vectors is greater than or equal to a component at a same position of an (i−1) th preset threshold vector, and successively decreasing indicates that any component of the i th preset threshold vector in the N preset threshold vectors is less than or equal to a component at a same position of the (i−1) th preset threshold vector, wherein 2≤i≤N and each bit of the binary data corresponds to a particular component of a particular preset threshold vector and indicates whether that particular component of that particular preset threshold vector is selected for quantization.

11 . The apparatus according to claim 10 , wherein the difference between the reconstructed 3D map descriptor and the at least one preset threshold vector comprises: a difference value between or an absolute value of a difference value between each component of the reconstructed 3D map descriptor and the corresponding component of the at least one preset threshold vector.

12 . The apparatus according to claim 10 , wherein at least one bit in the binary data further indicates a quantity of bits in the quantized data.

13 . A method for compressing a three-dimensional (3D) map, applied to an apparatus that comprises one or more processors, wherein the method comprises:

obtaining, by the one or more processors, a 3D map descriptor, wherein the 3D map descriptor corresponds to at least one 3D map point of the 3D map;

performing, by the one or more processors, binarization on a relationship between the 3D map descriptor and at least one preset threshold vector to obtain binary data; and

performing, by the one or more processors, quantization on a difference between the 3D map descriptor and the at least one preset threshold vector to obtain quantized data;

encapsulating the binary data and the quantized data to obtain a bitstream of the 3D map; and performing one of:

receiving 3D map request information sent by an electronic device, and sending, to the electronic device in response to the 3D map request information, the bitstream of the 3D map corresponding to the 3D map request information; or

sending the bitstream of the 3D map to a server,

wherein the at least one preset threshold vector comprises N preset threshold vectors, wherein each preset threshold vector comprises a plurality of components each corresponding to a dimension of the preset threshold vector, wherein components at a same position of the N preset threshold vectors successively increase or decrease, and successively increasing indicates that any component of an i th preset threshold vector in the N preset threshold vectors is greater than or equal to a component at a same position of an (i−1) th preset threshold vector, and successively decreasing indicates that any component of the i th preset threshold vector in the N preset threshold vectors is less than or equal to a component at a same position of the (i−1) th preset threshold vector, wherein 2≤i≤N;

wherein each bit of the binary data corresponds to a particular component of a particular preset threshold vector and indicates whether that particular component of that particular preset threshold vector is selected for quantization.