Three-dimensional data encoding method, three-dimensional data decoding method, three-dimensional data encoding device, and three-dimensional data decoding device

1. A three-dimensional data encoding method, comprising:

encoding pieces of attribute information of respective three-dimensional points, using parameters; and

generating a bitstream including the pieces of attribute information encoded, control information, and pieces of first attribute control information,

wherein the control information corresponds to the pieces of attribute information and includes pieces of type information each indicating a type of different attribute information,

the pieces of first attribute control information correspond one-to-one with the pieces of attribute information,

each of the pieces of first attribute control information includes first identification information indicating that the first attribute control information is associated with one of the pieces of type information,

the bitstream further includes pieces of second attribute control information corresponding to the pieces of attribute information,

each of the pieces of second attribute control information includes a reference value of a parameter used for encoding a corresponding one of the pieces of attribute information, and

each of the pieces of first attribute control information includes difference information that is a difference from the reference value of the parameter.

2. A three-dimensional data encoding method, comprising:

encoding pieces of attribute information of respective three-dimensional points, using parameters; and

generating a bitstream including the pieces of attribute information encoded, control information, and pieces of first attribute control information,

wherein the control information corresponds to the pieces of attribute information and includes pieces of type information each indicating a type of different attribute information,

the pieces of first attribute control information correspond one-to-one with the pieces of attribute information,

each of the pieces of first attribute control information includes first identification information indicating that the first attribute control information is associated with one of the pieces of type information,

each of the pieces of first attribute control information includes N fields in which N parameters are stored, N being greater than or equal to 2, and

in specific first attribute control information among the pieces of first attribute control information, one of the N fields includes a value indicating invalidity, the specific first attribute control information corresponding to a specific type of an attribute.

3. A three-dimensional data decoding method, comprising:

obtaining pieces of attribute information encoded and parameters from a bitstream, and

decoding the pieces of attribute information encoded using the parameters, to generate pieces of attribute information of respective three-dimensional points,

wherein the bitstream includes control information and pieces of first attribute control information,

the control information corresponds to the pieces of attribute information and includes pieces of type information each indicating a type of different attribute information,

the pieces of first attribute control information correspond one-to-one with the pieces of attribute information,

each of the pieces of first attribute control information includes first identification information indicating that the first attribute control information is associated with one of the pieces of type information,

the bitstream further includes pieces of second attribute control information corresponding to the pieces of attribute information,

each of the pieces of second attribute control information includes a reference value of a parameter used for encoding a corresponding one of the pieces of attribute information, and

each of the pieces of first attribute control information includes difference information that is a difference from the reference value of the parameter.

4. A three-dimensional data decoding method, comprising:

obtaining pieces of attribute information encoded and parameters from a bitstream, and

decoding the pieces of attribute information encoded using the parameters, to generate pieces of attribute information of respective three-dimensional points,

wherein the bitstream includes control information and pieces of first attribute control information,

the control information corresponds to the pieces of attribute information and includes pieces of type information each indicating a type of different attribute information,

the pieces of first attribute control information correspond one-to-one with the pieces of attribute information,

each of the pieces of first attribute control information includes first identification information indicating that the first attribute control information is associated with one of the pieces of type information,

each of the pieces of first attribute control information includes fields in which parameters are stored, and

in the decoding, a parameter stored in a specific field among the fields of specific first attribute control information among the pieces of first attribute control information is ignored, the specific first attribute control information corresponding to a specific type of an attribute.

5. An encoding method for encoding a point cloud including one or more attributes corresponding to a point, the encoding method comprising:

encoding the one or more attributes; and

generating coded data, the coded data including a first parameter set for the coded data and one or more attribute data units, the one or more attribute data units each including an attribute header, wherein

the first parameter set includes one or more attribute parameters,

the one or more attribute parameters correspond to the one or more attributes on a one-to-one basis, and

the attribute header includes a value indicating an order of an attribute parameter corresponding to an attribute data unit among the one or more attribute parameters stored in the first parameter set.

6. The encoding method according to claim 5 , wherein

the one or more attributes include a first attribute specifying a color of the point, and

the first attribute includes three components.

7. The encoding method according to claim 5 , wherein

the coded data includes one or more second parameter sets each including an identifier, and

the attribute header includes the identifier of a corresponding second parameter set among the one or more second parameter sets.

8. The encoding method according to claim 7 , wherein

the one or more second parameter sets each include a first quantization parameter value, and

the attribute header includes a second quantization parameter value which is an offset between a quantization parameter to be used for decoding and the first quantization parameter value.

9. An encoder for encoding a point cloud including one or more attributes corresponding to a point, the encoder comprising:

a processor; and

a memory,

wherein using the memory, the processor performs:

encoding the one or more attributes; and

generating coded data, the coded data including a first parameter set for the coded data and one or more attribute data units, the one or more attribute data units each including an attribute header, wherein

the first parameter set includes one or more attribute parameters,

the one or more attribute parameters correspond to the one or more attributes on a one-to-one basis, and

the attribute header includes a value indicating an order of an attribute parameter corresponding to an attribute data unit among the one or more attribute parameters stored in the first parameter set.

10. The encoder according to claim 9 , wherein

the one or more attributes include a first attribute specifying a color of the point, and

the first attribute includes three components.

11. The encoder according to claim 9 , wherein

the coded data includes one or more second parameter sets each including an identifier, and

the attribute header includes the identifier of a corresponding second parameter set among the one or more second parameter sets.

12. The encoder according to claim 11 , wherein

the one or more second parameter sets each include a first quantization parameter value, and

the attribute header includes a second quantization parameter value which is an offset between a quantization parameter to be used for decoding and the first quantization parameter value.

13. A decoding method for decoding coded data to obtain a point cloud including one or more attributes corresponding to a point, the decoding method comprising:

obtaining a first parameter set for the coded data and one or more attribute data units from the coded data; and

decoding the one or more attribute data units based on the first parameter set, the one or more attribute data units each including an attribute header, wherein

the first parameter set includes one or more attribute parameters,

the one or more attribute parameters correspond to the one or more attributes on a one-to-one basis, and

the attribute header includes a value indicating an order of an attribute parameter corresponding to an attribute data unit among the one or more attribute parameters stored in the first parameter set.

14. The decoding method according to claim 13 , wherein

the one or more attributes include a first attribute specifying a color of the point, and

the first attribute includes three components.

15. The decoding method according to claim 13 , wherein

the coded data includes one or more second parameter sets each including an identifier, and

the attribute header includes the identifier of a corresponding second parameter set among the one or more second parameter sets.

16. The decoding method according to claim 15 , wherein

the one or more second parameter sets each include a first quantization parameter value, and

the attribute header includes a second quantization parameter value which is an offset between a quantization parameter to be used for decoding and the first quantization parameter value.

17. A decoder for decoding coded data to obtain a point cloud including one or more attributes corresponding to a point, the decoder comprising:

a processor; and

a memory,

wherein using the memory, the processor performs:

obtaining a first parameter set for the coded data and one or more attribute data units from the coded data; and

decoding the one or more attribute data units based on the first parameter set, the one or more attribute data units each including an attribute header, wherein

the first parameter set includes one or more attribute parameters,

the one or more attribute parameters correspond to the one or more attributes on a one-to-one basis, and

the attribute header includes a value indicating an order of an attribute parameter corresponding to an attribute data unit among the one or more attribute parameters stored in the first parameter set.

18. The decoder according to claim 17 , wherein

the one or more attributes include a first attribute specifying a color of the point, and

the first attribute includes three components.

19. The decoder according to claim 18 , wherein

the coded data includes one or more second parameter sets each including an identifier, and

the attribute header includes the identifier of a corresponding second parameter set among the one or more second parameter sets.

20. The decoder according to claim 19 , wherein

the one or more second parameter sets each include a first quantization parameter value, and

the attribute header includes a second quantization parameter value which is an offset between a quantization parameter to be used for decoding and the first quantization parameter value.