Point cloud encoding and decoding method and device based on two-dimensional regularization plane projection

1 . A point cloud encoding method based on a two-dimensional regularization plane projection, comprising:

acquiring original point cloud data;

performing two-dimensional regularization plane projection on the original point cloud data to obtain a two-dimensional projection plane structure;

obtaining a plurality of pieces of two-dimensional image information according to the two-dimensional projection plane structure, wherein the plurality of pieces of two-dimensional image information comprise projection residual information including an azimuth angle residual ΔΦ;

performing prediction on the azimuth angle residual ΔΦ based on depth information to obtain a predicted residual of the azimuth angle residual ΔΦ; and

encoding the predicted residual of the azimuth angle residual ΔΦ to obtain code stream information.

2 . The point cloud encoding method according to claim 1 , wherein the plurality of pieces of two-dimensional image information comprise a projection residual information map, and the projection residual information map comprising the azimuth angle residual ΔΦ.

3 . The point cloud encoding method based on a two-dimensional regularization plane projection according to claim 2 , wherein the encoding the predicted residual of the azimuth angle residual ΔΦ to obtain code stream information comprises:

encoding the predicted residual of the azimuth angle residual ΔΦ to obtain a projection residual information code stream.

4 . The point cloud encoding method according to claim 3 , wherein the performing prediction on the azimuth angle residual ΔΦ comprises:

performing prediction on a pixel in the projection residual information map based on a placeholder information map and a depth information map to obtain a predicted residual of a projection residual, wherein the predicted residual of the projection residual comprises the predicted residual of the azimuth angle residual ΔΦ.

5 . The point cloud encoding method according to claim 4 , wherein the performing prediction on the pixel in the projection residual information map comprises:

traversing pixels in the projection residual information map in a specific scanning order, and identifying encoded and decoded non-empty pixels in an adjacent region of a current non-empty pixel according to the placeholder information map;

establishing a relationship between depth information and reconstructed projection residual information by using the encoded and decoded non-empty pixels, and estimating projection residual information corresponding to a current pixel according to the relationship, to obtain an estimated value of the current pixel; and

using the estimated value of the projection residual of the current pixel as a predicted value of the projection residual of the current pixel, to obtain a predicted residual of the projection residual of the current pixel.

6 . The point cloud encoding method according to claim 1 , wherein the performing prediction on the azimuth angle residual ΔΦ comprises:

performing prediction on the azimuth angle residual ΔΦ based on the depth information to obtain a predicted projection residual of a current pixel; and

obtaining, according to a difference between an original projection residual and the predicted projection residual of the current pixel, a predicted residual of the projection residual of the current pixel.

7 . The point cloud encoding method according to claim 1 , wherein the performing two-dimensional regularization plane projection on the original point cloud data to obtain the two-dimensional projection plane structure comprises:

performing two-dimensional regularization plane projection on the original point cloud data according to regularization parameters to obtain the two-dimensional projection plane structure, wherein the regularization parameters include at least one of the following parameters: the quantity of laser scanners, and the horizontal sampling angular resolution.

8 . A point cloud encoding device based on a two-dimensional regularization plane projection, the point cloud encoding device being configured to:

acquire original point cloud data;

perform two-dimensional regularization plane projection on the original point cloud data to obtain a two-dimensional projection plane structure;

obtain a plurality of pieces of two-dimensional image information according to the two-dimensional projection plane structure, wherein the plurality of pieces of two-dimensional image information comprise projection residual information including an azimuth angle residual ΔΦ;

perform prediction on the azimuth angle residual ΔΦ based on depth information to obtain a predicted residual of the azimuth angle residual ΔΦ; and

encode the predicted residual of the azimuth angle residual ΔΦ to obtain code stream information.

9 . A point cloud decoding method based on a two-dimensional regularization plane projection, comprising:

acquiring code stream information and decoding the code stream information to obtain parsed data, wherein the parsed data comprise a predicted residual of an azimuth angle residual ΔΦ;

reconstructing a plurality of pieces of two-dimensional image information according to the parsed data;

obtaining a two-dimensional projection plane structure according to the plurality of pieces of two-dimensional image information, wherein the plurality of pieces of two-dimensional image information comprise the azimuth angle residual ΔΦ; and

reconstructing a point cloud by using the two-dimensional projection plane structure.

10 . The point cloud decoding method according to claim 9 , wherein the reconstructing the plurality of pieces of two-dimensional image information according to the parsed data comprises:

reconstructing, according to predicted residuals of a projection residual information map in the parsed data, the projection residual information map to obtain a reconstructed projection residual information map.