FIELD: data processing.
SUBSTANCE: present invention discloses methods and apparatus for encoding/decoding point cloud geometric data. In the method of encoding geometric data of a point cloud into a bit stream, a list (L={r_2}) of possible radii is obtained for a first filled coarse approximation point (P1) having an index (λ_1) of the first sensor, index (s1) of the first sample, and which is associated with first radius (r_1), this list of possible radii contains at least one second radius (r2) associated with at least one second filled rough approximation point (P2), in which index (λ_2) of the second sensor differs from index (λ_1) of the first sensor and in which the second sample index (s2) does not exceed the first sample index (s1), wherein at least one second filled rough approximation point (P2) additionally satisfies at least one acceptability condition, indicating that the radius associated with the at least one second filled coarse approximation point (P2) is likely to reduce the dynamic range of the residual (rres) of the predicted radius when the first radius is predictively encoded; selecting for the first filled rough approximation point (P1) of the selected predicted radius (rpred) from the list (L={r_2}) of possible radii; encoding into a bit stream of data (Ipred) indicating a selected predicted radius (rpred) in a list (L={r_2}) of possible radii; and predictive bitstream encoding of the residual radius (rres) between the first radius (r_1) and the selected predicted radius (rpred).
EFFECT: optimization of encoding/decoding due to improved selection of the predicted radius of the detected point.
18 cl, 29 dwg
