CPC G06T 9/001 (2013.01) [G01S 17/89 (2013.01)] | 22 Claims |
1. A method of encoding a point cloud, the method comprising:
determining, by one or more processors, a quantity of lasers used to capture light detection and ranging (LIDAR) data that represents the point cloud; and
encoding, by the one or more processors, a laser index for a current node of the point cloud, wherein encoding the laser index comprises:
obtaining a predicted laser index value of the current node;
determining a residual laser index value for the current node, wherein determining the residual laser index value comprises constraining a sum of the residual laser index value and the predicted laser index value based on the determined quantity of lasers; and
encoding, in a bitstream, one or more syntax elements that represent the residual laser index value.
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