Method and apparatus of encoding/decoding point cloud geometry data captured by a spinning sensors head
There is provided methods and apparatus of encoding/decoding a point cloud representing a physical object. Points are captured by a spinning sensors head and are represented by sensor indices associated with sensors that captured the points, azimuthal angles representing capture angles of said sensors, and radius values of spherical coordinates of the point. Points are ordered based order indices obtained from the azimuthal angles and the sensor indices. Order index differences are encoded. An order index difference represents a difference between order indices associated with two consecutive ordered points. Optionally, the method encodes radius values, residual azimuthal angles associated with ordered points and residuals of three-dimensional cartesian coordinates of ordered points based on their three-dimensional cartesian coordinates, decoded azimuthal angles based on azimuthal angles, decoded radius values and sensor indices.
1 . A method of encoding a point cloud into a bitstream of encoded point cloud data representing a physical object, wherein the method comprises:
obtaining, for each point of the point cloud, a sensor index associated with a sensor that captured the point, an azimuthal angle representing a capture angle of said sensor;
ordering points of the point cloud based on the azimuthal angles and the sensor indices; and
encoding, into the bitstream, at least one order index difference representing a difference between order indices of two consecutive ordered points.
2 . The method of claim 1 , wherein the method further comprises encoding, into the bitstream, radius values.
3 . The method of claim 2 , wherein the method further comprises encoding, in the bitstream, residuals of three-dimensional cartesian coordinates of ordered points based on their three-dimensional cartesian coordinates, on decoded azimuthal angles obtained from azimuthal angles, on decoded radius values obtained from radius values, and on sensor indices.
4 . The method of claim 3 , wherein the decoded azimuthal angles are obtained from residual azimuthal angles associated with ordered points, and wherein the method further comprises encoding, in the bitstream, the residual azimuthal angles.
5 . A method of decoding a point cloud from a bitstream of encoded point cloud data representing a physical object, wherein the method comprises:
decoding, from the bitstream, at least one order index difference representing a difference between order indices of two consecutive ordered points of the point cloud; and
obtaining, for each point of the point cloud, a sensor index associated with a sensor that captured the point and an azimuthal angle representing a capture angle of said sensor from an order index obtained from a decoded order index difference.
6 . The method of claim 5 , wherein the method further comprises decoding radius values from the bitstream and obtaining decoded radius values from the radius values.
7 . The method of claim 6 , wherein the method further comprises decoding, from the bitstream, residuals of three-dimensional cartesian coordinates of ordered points and obtaining decoded three-dimensional cartesian coordinates of ordered points based on their decoded azimuthal angles obtained from the azimuthal angles, on their decoded radius values and on their sensor indices.
8 . The method of claim 7 , wherein the method further comprises decoding residual azimuthal angles from the bitstream, and wherein the decoded azimuthal angles are obtained from the residual azimuthal angles.
9 . An electronic device, comprising:
a processor; and
a memory for storing instructions executable by the processor;
wherein the processor is configured to encode a point cloud into a bitstream of encoded point cloud data representing a physical object, wherein the processor is configured to:
obtain, for each point of the point cloud, a sensor index associated with a sensor that captured the point, an azimuthal angle representing a capture angle of said sensor;
order points of the point cloud based on the azimuthal angles and the sensor indices; and
encode, into the bitstream, at least one order index difference representing a difference between order indices of two consecutive ordered points.
10 . The electronic device of claim 9 , wherein the processor is further configured to encode, into the bitstream, radius values.
11 . The electronic device of claim 10 , wherein the processor is further configured to encode, in the bitstream, residuals of three-dimensional cartesian coordinates of ordered points based on their three-dimensional cartesian coordinates, on decoded azimuthal angles obtained from azimuthal angles, on decoded radius values obtained from radius values, and on sensor indices.
12 . The electronic device of claim 11 , wherein the decoded azimuthal angles are obtained from residual azimuthal angles associated with ordered points, and wherein the processor is further configured to encode, in the bitstream, the residual azimuthal angles.