阅读说明：本技术 一种数据编码、数据解码方法、设备及存储介质 (Data encoding method, data decoding method, equipment and storage medium ) 是由 李璞 郑萧桢 陈嘉枫 王文义 虞露 于 2019-07-04 设计创作，主要内容包括：一种数据编码、数据解码方法、设备及存储介质,其中,该方法包括：确定点云数据的语法元素的取值；当根据语法元素的取值确定搜索范围不为0时,对点云的属性值进行预测处理,得到点云的属性值的残差；对点云的属性值的残差进行编码得到第一码流数据,其中,所述第一码流数据中包括标识信息,所述标识信息用于指示至少一个点云点的属性值的残差为0(S902)；当根据语法元素的取值确定搜索范围为0时,跳过“对点云的属性值进行预测处理”的步骤,对点云的属性值进行编码得到第二码流数据,其中,所述第二码流数据中不包括第一标识(S903)。通过这种方式可以降低编码、解码的算法复杂度,提高编码、解码的效率。(A data encoding method, a data decoding method, equipment and a storage medium, wherein the method comprises the following steps: determining the value of a syntactic element of the point cloud data; when the search range is determined to be not 0 according to the value of the syntactic element, performing prediction processing on the attribute value of the point cloud to obtain a residual error of the attribute value of the point cloud; coding a residual error of an attribute value of a point cloud to obtain first code stream data, wherein the first code stream data comprises identification information, and the identification information is used for indicating that the residual error of the attribute value of at least one point cloud point is 0 (S902); when the search range is determined to be 0 according to the value of the syntax element, the step of 'performing prediction processing on the attribute value of the point cloud' is skipped, and the attribute value of the point cloud is encoded to obtain second code stream data, wherein the second code stream data does not include the first identifier (S903). By the method, the complexity of the coding and decoding algorithm can be reduced, and the coding and decoding efficiency can be improved.)

A method of encoding data, comprising:

determining a value of a syntax element of point cloud data, wherein the point cloud data comprises an attribute value of the point cloud, and the syntax element is used for indicating a search range of the attribute value of the point cloud when predictive coding is carried out;

when the search range is determined to be not 0 according to the value of the syntax element, performing prediction processing on the attribute value of the point cloud to obtain a residual error of the attribute value of the point cloud, and encoding the residual error of the attribute value of the point cloud to obtain first code stream data, wherein the first code stream data comprises identification information which is used for indicating that the residual error of the attribute value of at least one point cloud point is 0;

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of 'performing prediction processing on the attribute value of the point cloud', and encoding the attribute value of the point cloud to obtain second code stream data, wherein the second code stream data does not include the first identifier.

The method of claim 1, wherein when it is determined that the search range is 0 according to the value of the syntax element, encoding the attribute value of the point cloud to obtain second code stream data comprises:

and when the search range is determined to be 0 according to the value of the syntactic element, carrying out binarization coding on the attribute value of the point cloud to obtain second code stream data.

The method of claim 1, wherein the point cloud data further comprises location coordinates of the point cloud;

when it is determined that the search range is not 0 according to the value of the syntax element, before performing prediction processing on the attribute value of the point cloud, the method further includes:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

the predicting the attribute value of the point cloud comprises the following steps:

and according to the sequencing of the point cloud points in the point cloud and the search range, performing prediction processing on the attribute values of the point cloud.

The method of claim 3,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of determining the Morton code of the point cloud points in the point cloud according to the position of the point cloud and sequencing the point cloud points in the point cloud according to the Morton code of the point cloud points in the point cloud.

The method of claim 3, wherein the predicting the attribute values of the point clouds according to the ordering of the point cloud points in the point clouds and the search range comprises:

determining a reference point cloud point of a current point cloud point, wherein the sorting distance between the reference point cloud point and the current point cloud point in the sorted point cloud is not greater than the search range;

and calculating the residual error of the attribute value of the point cloud point according to the attribute value of the reference point cloud point and the attribute value of the current point cloud point.

The method of claim 3, wherein before encoding the attribute value of the point cloud to obtain second code stream data when the search range is determined to be 0 according to the value of the syntax element, the method further comprises:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

the encoding the attribute value of the point cloud to obtain second code stream data comprises the following steps:

and coding the attribute values of the sorted point clouds to obtain second code stream data.

The method of claim 1,

the identification information includes a first identification indicating the number of point cloud points where the residual of the attribute value appears is 0 continuously.

The method of claim 1,

the identification information comprises a second identification, and the second identification is used for indicating whether a residual error of the attribute value of the cloud point at the current point is n, wherein n is a positive integer.

The method of claim 8, wherein n is 1 or 2.

The method according to claim 8, wherein the second flag is specifically configured to indicate whether a difference between a residual of the attribute value of the current cloud point and n is 0.

The method of claim 1, wherein when it is determined that the search range is not 0 according to the value of the syntax element, before the encoding of the residual error of the attribute value of the point cloud to obtain the first code stream data, the method further comprises:

carrying out symbol conversion on the residual error of the attribute value of the point cloud;

the encoding of the residual error of the attribute value of the point cloud to obtain first code stream data includes:

and coding the residual error which accords with the converted attribute value of the point cloud to obtain first code stream data.

The method of claim 11,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing symbol conversion on the attribute value of the point cloud.

A method of encoding data, comprising:

determining a value of a syntax element of point cloud data, wherein the point cloud data comprises an attribute value of the point cloud, and the syntax element is used for indicating a search range of the attribute value of the point cloud when predictive coding is carried out;

and when the search range is determined to be 0 according to the value of the syntactic element, coding the attribute value of the point cloud to obtain code stream data, wherein the code stream data does not include an identifier for indicating that the attribute value of at least one point cloud point is 0.

The method of claim 13, wherein the encoding the attribute values of the point cloud to obtain code stream data comprises:

and carrying out binarization coding on the attribute value of the point cloud to obtain code stream data.

The method of claim 13,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing prediction processing on the attribute value of the point cloud.

The method of claim 15,

the step of "performing prediction processing on the attribute value of the point cloud" occurs when it is determined that the search range is not 0 according to the value of the syntax element.

The method of claim 15,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the steps of calculating the morton codes corresponding to the position coordinates of the point cloud points in the point cloud and sequencing the point cloud points in the point cloud according to the morton codes of the point cloud points in the point cloud before the step of performing prediction processing on the attribute values of the point cloud.

The method of claim 17, wherein the step of performing a prediction process on the property values of the point cloud comprises:

determining a reference point cloud point of a current point cloud point, wherein the sorting distance between the reference point cloud point and the current point cloud point in the sorted point cloud is not greater than the search range;

and calculating the residual error of the attribute values of the point cloud points according to the attribute values of the reference point cloud points and the attribute values of the current point cloud points.

The method of claim 13, further comprising:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

the encoding the attribute value of the point cloud to obtain code stream data comprises the following steps:

and coding the attribute values of the sorted point clouds to obtain code stream data.

The method of claim 13,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing symbol conversion on the attribute value of the point cloud.

The method of claim 20,

when the search range is determined not to be 0 according to the value of the syntax element, there is a step of performing symbol conversion on a residual error of the attribute value of the point cloud.

The method according to claim 13, wherein the codestream data does not include an identifier for indicating the number of point cloud points with occurrence attribute values of 0 continuously.

The method according to claim 13, wherein the codestream data does not include an identifier indicating whether an attribute value of the current cloud point is 1.

The method according to claim 23, wherein the codestream data does not include an identifier indicating whether a difference between an attribute value of the cloud point at the current point and 1 is 0.

The method according to claim 13, wherein the codestream data does not include an identifier indicating whether an attribute value of the current cloud point is 2.

The method according to claim 25, wherein the codestream data does not include an identifier indicating whether a difference between an attribute value of the cloud point at the current point and 2 is 0.

A method of decoding data, comprising:

decoding a value of a syntax element of point cloud data from code stream data, wherein the point cloud data comprises an attribute value of the point cloud, and the syntax element is used for indicating a search range of the attribute value of the point cloud when predictive decoding is carried out;

when the search range is determined to be not 0 according to the value of the syntactic element, decoding the code stream data to obtain a residual error of the attribute value of the point cloud, and performing compensation processing on the residual error of the attribute value of the point cloud, wherein the code stream data comprises identification information which is used for indicating that the residual error of the attribute value of at least one point cloud point is 0;

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing compensation processing on the residual error of the attribute value of the point cloud in the code stream data, and decoding the code stream data to obtain the attribute value of the point cloud, wherein the code stream data does not include the identification information.

The method of claim 27, wherein decoding the code stream data to obtain the attribute value of the point cloud when the search range is determined to be 0 according to the value of the syntax element comprises:

and when the search range is determined to be 0 according to the value of the syntactic element, performing inverse operation of binarization on the code stream data to obtain the attribute value of the point cloud.

The method of claim 27, wherein the point cloud data further comprises location coordinates of the point cloud;

when it is determined that the search range is not 0 according to the value of the syntax element, before performing compensation processing on a residual error of the attribute value of the point cloud, the method further includes:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

the compensation processing of the residual error of the attribute value of the point cloud comprises the following steps:

and compensating the residual error of the attribute value of the point cloud according to the sequencing of the point cloud points in the point cloud and the search range.

The method of claim 29, wherein the compensating the residual error of the attribute values of the point clouds according to the ordering of the point cloud points in the point clouds and the search range comprises:

determining a reference point cloud point of the current point cloud point according to the search range, wherein the sorting distance between the reference point cloud point and the current point cloud point in the sorted point cloud is not more than the search range;

and determining the attribute value of the cloud point of the current point according to the residual error of the attribute value of the cloud point of the current point and the attribute value of the cloud point of the reference point.

The method of claim 29,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of calculating the Morton code corresponding to the position coordinates of the point cloud points in the point cloud and sequencing the point cloud points in the point cloud according to the Morton code of the point cloud points in the point cloud.

The method of claim 29, wherein when it is determined that the search range is 0 according to the value of the syntax element, before the decoding the code stream data to obtain the attribute value of the point cloud, the method further comprises:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

the decoding the code stream data to obtain the attribute value of the point cloud comprises the following steps:

and decoding the code stream data to obtain the attribute value of the sorted point cloud.

The method of claim 27,

the identification information includes a first identification indicating the number of point cloud points where the residual of the attribute value appears is 0 continuously.

The method of claim 27,

the identification information comprises a second identification, and the second identification is used for indicating whether a residual error of the attribute value of the cloud point at the current point is n, wherein n is a positive integer.

The method of claim 34, wherein n is 1 or 2.

The method of claim 34, wherein the second flag is specifically configured to indicate whether a difference between a residual of the attribute value of the current cloud point and n is 0.

The method of claim 27, wherein before the compensating the residual error of the attribute value of the point cloud when it is determined that the search range is not 0 according to the value of the syntax element, the method further comprises:

carrying out symbol conversion on the residual error of the attribute value of the point cloud;

the compensation processing of the residual error of the attribute value of the point cloud comprises the following steps:

and compensating the residual error of the point cloud according with the converted attribute value.

The method of claim 27,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing symbol conversion on the attribute value of the point cloud.

A method of decoding data, comprising:

decoding a value of a syntax element of point cloud data from code stream data, wherein the point cloud data comprises an attribute value of the point cloud, and the syntax element is used for indicating a search range of the attribute value of the point cloud when predictive decoding is carried out;

and when the search range is determined to be 0 according to the value of the syntactic element, decoding the code stream data to obtain the attribute value of the point cloud, wherein the code stream data does not include identification information.

The method of claim 39, wherein the decoding the codestream data to obtain the attribute value of the point cloud comprises:

and carrying out the inverse operation of binarization on the code stream data to obtain the attribute value of the point cloud.

The method of claim 39,

and when the code stream data does not include an identifier for indicating that the attribute value of at least one point cloud point is 0, skipping the step of performing compensation processing on the residual error of the attribute value of the point cloud in the code stream data.

The method of claim 41,

the step of "compensating for a residual error of an attribute value of the point cloud in the code stream data" occurs when a search range of a value of a syntax element of the point cloud data is not 0.

The method of claim 41,

when the search range of the value of the syntax element of the point cloud data is 0, skipping the morton code corresponding to the position coordinates of the point cloud point in the point cloud before the step of performing compensation processing on the residual error of the attribute value of the point cloud in the code stream data; and sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud.

The method of claim 43, wherein the step of performing compensation processing on a residual error of the attribute value of the point cloud in the codestream data comprises:

determining a reference point cloud point of the current point cloud point according to the search range, wherein the sorting distance between the reference point cloud point and the current point cloud point in the sorted point cloud is not more than the search range;

and determining the attribute value of the cloud point of the current point according to the residual error of the attribute value of the cloud point of the current point and the attribute value of the cloud point of the reference point.

The method of claim 39, further comprising:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

the decoding the code stream data to obtain the attribute value of the point cloud comprises the following steps:

and decoding the code stream data to obtain the attribute value of the sorted point cloud.

The method of claim 39,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing symbol conversion on the attribute value of the point cloud.

The method of claim 46,

when the search range is determined not to be 0 according to the value of the syntax element, there is a step of performing symbol conversion on a residual error of the attribute value of the point cloud.

The method of claim 39, wherein the codestream data does not include an identifier indicating the number of point cloud points with an occurrence attribute value of 0.

The method of claim 39, wherein the codestream data does not include an indicator indicating whether the attribute value of the current cloud point is 1.

The method of claim 49, wherein the codestream data does not include an indicator indicating whether a difference between an attribute value of the cloud point at the current point and 1 is 0.

The method of claim 39, wherein the codestream data does not include an indicator indicating whether the attribute value of the current cloud point is 2.

The method of claim 51, wherein the codestream data does not include an identifier indicating whether a difference between an attribute value of the cloud point at the current point and 2 is 0.

A data encoding device characterized by comprising: a memory and a processor, wherein the processor is capable of,

the memory is used for storing programs;

the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:

determining a value of a syntax element of point cloud data, wherein the point cloud data comprises an attribute value of the point cloud, and the syntax element is used for indicating a search range of the attribute value of the point cloud when predictive coding is carried out;

when the search range is determined to be not 0 according to the value of the syntax element, performing prediction processing on the attribute value of the point cloud to obtain a residual error of the attribute value of the point cloud, and encoding the residual error of the attribute value of the point cloud to obtain first code stream data, wherein the first code stream data comprises identification information which is used for indicating that the residual error of the attribute value of at least one point cloud point is 0;

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of 'performing prediction processing on the attribute value of the point cloud', and encoding the attribute value of the point cloud to obtain second code stream data, wherein the second code stream data does not include the first identifier.

The device of claim 53, wherein when the search range is determined to be 0 according to the value of the syntax element, the processor is configured to encode the attribute value of the point cloud to obtain second bitstream data, and specifically:

and when the search range is determined to be 0 according to the value of the syntactic element, carrying out binarization coding on the attribute value of the point cloud to obtain second code stream data.

The apparatus of claim 53, wherein the point cloud data further comprises location coordinates of the point cloud;

when it is determined that the search range is not 0 according to the value of the syntax element, before the processor performs prediction processing on the attribute value of the point cloud, the processor is further configured to:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

when the processor performs prediction processing on the attribute value of the point cloud, the processor is specifically configured to:

and according to the sequencing of the point cloud points in the point cloud and the search range, performing prediction processing on the attribute values of the point cloud.

The apparatus according to claim 55,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of determining the Morton code of the point cloud points in the point cloud according to the position of the point cloud and sequencing the point cloud points in the point cloud according to the Morton code of the point cloud points in the point cloud.

The device according to claim 55, wherein the processor is configured to, when performing the prediction processing on the attribute values of the point clouds according to the ordering of the point cloud points in the point clouds and the search range, specifically:

determining a reference point cloud point of a current point cloud point, wherein the sorting distance between the reference point cloud point and the current point cloud point in the sorted point cloud is not greater than the search range;

and calculating the residual error of the attribute value of the point cloud point according to the attribute value of the reference point cloud point and the attribute value of the current point cloud point.

The device of claim 55, wherein when it is determined that the search range is 0 according to the value of the syntax element, before the processor encodes the attribute value of the point cloud to obtain second code stream data, the processor is further configured to:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

when the processor encodes the attribute value of the point cloud to obtain second code stream data, the processor is specifically configured to:

and coding the attribute values of the sorted point clouds to obtain second code stream data.

The apparatus of claim 53,

the identification information includes a first identification indicating the number of point cloud points where the residual of the attribute value appears is 0 continuously.

The apparatus of claim 53,

the identification information comprises a second identification, and the second identification is used for indicating whether a residual error of the attribute value of the cloud point at the current point is n, wherein n is a positive integer.

The apparatus of claim 60, wherein n is 1 or 2.

The device according to claim 60, wherein the second flag is specifically configured to indicate whether a difference between a residual of the attribute value of the current cloud point and n is 0.

The apparatus of claim 53, wherein before the processor encodes a residual of the attribute value of the point cloud to obtain first code stream data when it is determined that the search range is not 0 according to the value of the syntax element, the processor is further configured to:

carrying out symbol conversion on the residual error of the attribute value of the point cloud;

when the processor encodes the residual error of the attribute value of the point cloud to obtain first code stream data, the processor is specifically configured to:

and coding the residual error which accords with the converted attribute value of the point cloud to obtain first code stream data.

The apparatus of claim 63,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing symbol conversion on the attribute value of the point cloud.

A data encoding device characterized by comprising: a memory and a processor, wherein the processor is capable of,

the memory is used for storing programs;

the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:

determining a value of a syntax element of point cloud data, wherein the point cloud data comprises an attribute value of the point cloud, and the syntax element is used for indicating a search range of the attribute value of the point cloud when predictive coding is carried out;

and when the search range is determined to be 0 according to the value of the syntactic element, coding the attribute value of the point cloud to obtain code stream data, wherein the code stream data does not include an identifier for indicating that the attribute value of at least one point cloud point is 0.

The device according to claim 65, wherein the processor, when encoding the property values of the point cloud to obtain code stream data, is specifically configured to:

and carrying out binarization coding on the attribute value of the point cloud to obtain code stream data.

The apparatus according to claim 65,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing prediction processing on the attribute value of the point cloud.

The apparatus according to claim 67,

the step of "performing prediction processing on the attribute value of the point cloud" occurs when it is determined that the search range is not 0 according to the value of the syntax element.

The apparatus according to claim 67,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the steps of calculating the morton codes corresponding to the position coordinates of the point cloud points in the point cloud and sequencing the point cloud points in the point cloud according to the morton codes of the point cloud points in the point cloud before the step of performing prediction processing on the attribute values of the point cloud.

The apparatus according to claim 69, wherein the step of performing prediction processing on the attribute values of the point cloud comprises:

determining a reference point cloud point of a current point cloud point, wherein the sorting distance between the reference point cloud point and the current point cloud point in the sorted point cloud is not greater than the search range;

and calculating the residual error of the attribute values of the point cloud points according to the attribute values of the reference point cloud points and the attribute values of the current point cloud points.

The device of claim 65, wherein the processor is further configured to:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

when the processor encodes the attribute value of the point cloud to obtain code stream data, the processor is specifically configured to:

and coding the attribute values of the sorted point clouds to obtain code stream data.

The apparatus according to claim 65,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing symbol conversion on the attribute value of the point cloud.

The apparatus according to claim 72,

when the search range is determined not to be 0 according to the value of the syntax element, there is a step of performing symbol conversion on a residual error of the attribute value of the point cloud.

The device according to claim 65, wherein no identifier is included in the codestream data for indicating the number of point cloud points with occurrence attribute values of 0.

The device of claim 65, wherein the codestream data does not include an indicator indicating whether the attribute value of the current cloud point is 1.

The device of claim 75, wherein the codestream data does not include an indicator indicating whether a difference between an attribute value of the cloud point at the current point and 1 is 0.

The device of claim 65, wherein the codestream data does not include an indicator indicating whether the attribute value of the current cloud point is 2.

The device according to claim 77, wherein the codestream data does not include an identifier indicating whether a difference between an attribute value of the cloud point at the current point and 2 is 0.

A data decoding apparatus, characterized by comprising: a memory and a processor, wherein the processor is capable of,

the memory is used for storing programs;

the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:

decoding a value of a syntax element of point cloud data from code stream data, wherein the point cloud data comprises an attribute value of the point cloud, and the syntax element is used for indicating a search range of the attribute value of the point cloud when predictive decoding is carried out;

when the search range is determined to be not 0 according to the value of the syntactic element, decoding the code stream data to obtain a residual error of the attribute value of the point cloud, and performing compensation processing on the residual error of the attribute value of the point cloud, wherein the code stream data comprises identification information which is used for indicating that the residual error of the attribute value of at least one point cloud point is 0;

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing compensation processing on the residual error of the attribute value of the point cloud in the code stream data, and decoding the code stream data to obtain the attribute value of the point cloud, wherein the code stream data does not include the identification information.

The device according to claim 79, wherein the processor, when determining that the search range is 0 according to the value of the syntax element and decoding the code stream data to obtain the attribute value of the point cloud, is specifically configured to:

and when the search range is determined to be 0 according to the value of the syntactic element, performing inverse operation of binarization on the code stream data to obtain the attribute value of the point cloud.

The apparatus of claim 79, wherein the point cloud data further comprises location coordinates of the point cloud;

when determining that the search range is not 0 according to the value of the syntax element, the processor is further configured to, before performing compensation processing on a residual error of the attribute value of the point cloud:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

when the processor performs compensation processing on the residual error of the point cloud attribute value, the processor is specifically configured to:

and compensating the residual error of the attribute value of the point cloud according to the sequencing of the point cloud points in the point cloud and the search range.

The device according to claim 81, wherein the processor is configured to, when performing the compensation process on the residuals of the attribute values of the point clouds according to the ordering of the point cloud points in the point clouds and the search range, specifically:

determining a reference point cloud point of the current point cloud point according to the search range, wherein the sorting distance between the reference point cloud point and the current point cloud point in the sorted point cloud is not more than the search range;

and determining the attribute value of the cloud point of the current point according to the residual error of the attribute value of the cloud point of the current point and the attribute value of the cloud point of the reference point.

The apparatus according to claim 81,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of calculating the Morton code corresponding to the position coordinates of the point cloud points in the point cloud and sequencing the point cloud points in the point cloud according to the Morton code of the point cloud points in the point cloud.

The device of claim 81, wherein when determining that the search range is 0 according to the value of the syntax element, the processor is further configured to, before decoding the code stream data to obtain the attribute value of the point cloud:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

when the processor decodes the code stream data to obtain the attribute value of the point cloud, the processor is specifically configured to:

and decoding the code stream data to obtain the attribute value of the sorted point cloud.

The apparatus according to claim 79,

the identification information includes a first identification indicating the number of point cloud points where the residual of the attribute value appears is 0 continuously.

The apparatus according to claim 79,

the identification information comprises a second identification, and the second identification is used for indicating whether a residual error of the attribute value of the cloud point at the current point is n, wherein n is a positive integer.

The apparatus of claim 86, wherein n is 1 or 2.

The device according to claim 86, wherein the second indicator is specifically configured to indicate whether a difference between a residual of the attribute value of the current cloud point and n is 0.

The apparatus of claim 79, wherein when it is determined that the search range is not 0 according to the value of the syntax element, the processor is further configured to, before performing compensation processing on a residual error of the attribute value of the point cloud:

carrying out symbol conversion on the residual error of the attribute value of the point cloud;

when the processor performs compensation processing on the residual error of the point cloud attribute value, the processor is specifically configured to:

and compensating the residual error of the point cloud according with the converted attribute value.

The apparatus according to claim 79,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing symbol conversion on the attribute value of the point cloud.

A data decoding apparatus, characterized by comprising: a memory and a processor, wherein the processor is capable of,

the memory is used for storing programs;

the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:

decoding a value of a syntax element of point cloud data from code stream data, wherein the point cloud data comprises an attribute value of the point cloud, and the syntax element is used for indicating a search range of the attribute value of the point cloud when predictive decoding is carried out;

and when the search range is determined to be 0 according to the value of the syntactic element, decoding the code stream data to obtain the attribute value of the point cloud, wherein the code stream data does not include identification information.

The device according to claim 91, wherein when the processor decodes the code stream data to obtain the attribute value of the point cloud, the processor is specifically configured to:

and carrying out the inverse operation of binarization on the code stream data to obtain the attribute value of the point cloud.

The apparatus according to claim 91,

and when the code stream data does not include an identifier for indicating that the attribute value of at least one point cloud point is 0, skipping the step of performing compensation processing on the residual error of the attribute value of the point cloud in the code stream data.

The apparatus according to claim 93,

the step of "compensating for a residual error of an attribute value of the point cloud in the code stream data" occurs when a search range of a value of a syntax element of the point cloud data is not 0.

The apparatus according to claim 93,

when the search range of the value of the syntax element of the point cloud data is 0, skipping the morton code corresponding to the position coordinates of the point cloud point in the point cloud before the step of performing compensation processing on the residual error of the attribute value of the point cloud in the code stream data; and sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud.

The apparatus of claim 95, wherein the step of performing compensation processing on a residual error of the attribute value of the point cloud in the codestream data comprises:

determining a reference point cloud point of the current point cloud point according to the search range, wherein the sorting distance between the reference point cloud point and the current point cloud point in the sorted point cloud is not more than the search range;

and determining the attribute value of the cloud point of the current point according to the residual error of the attribute value of the cloud point of the current point and the attribute value of the cloud point of the reference point.

The device of claim 91, wherein the processor is further configured to:

calculating a Morton code corresponding to the position coordinates of the point cloud points in the point cloud;

sorting the point cloud points in the point cloud according to the Morton codes of the point cloud points in the point cloud;

when the processor decodes the code stream data to obtain the attribute value of the point cloud, the processor is specifically configured to:

and decoding the code stream data to obtain the attribute value of the sorted point cloud.

The apparatus according to claim 91,

and when the search range is determined to be 0 according to the value of the syntactic element, skipping the step of performing symbol conversion on the attribute value of the point cloud.

The apparatus according to claim 98,

when the search range is determined not to be 0 according to the value of the syntax element, there is a step of performing symbol conversion on a residual error of the attribute value of the point cloud.

The device according to claim 91, wherein no indication indicating the number of point cloud points with continuous 0 attribute values is included in the codestream data.

The device of claim 91, wherein the codestream data does not include an indicator indicating whether an attribute value of the current cloud point is 1.

The device of claim 101, wherein the codestream data does not include an identifier indicating whether a difference between an attribute value of a current cloud point and 1 is 0.

The device of claim 91, wherein the codestream data does not include an indicator indicating whether the attribute value of the current cloud point is 2.

The device of claim 103, wherein the codestream data does not include an identifier indicating whether a difference between an attribute value of the cloud point at the current point and 2 is 0.

A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 52.