A point cloud decoding method comprises: parsing a bitstream of a point cloud to obtain reconstructed information of position information of a target point in the point cloud; obtaining predicted values of attribute information of the target point according to the reconstruction information of the position information of the target point; parsing the bitstream to obtain residual values of the attribute information of the target point; obtaining initial reconstructed values of the attribute information of the target point according to the predicted values and the residual values of the attribute information of the target point; filtering the initial reconstructed values of the attribute information of the target point by using a Kalman filtering algorithm, to obtain final reconstructed values of the attribute information of the target point; and obtaining a decoded point cloud according to the final reconstructed values of the attribute information of the target point.

A method for level partition of a point cloud includes: decoding a point cloud bitstream, the point cloud bitstream including geometry information and attribute information of the point cloud; determining a maximum permissible value of a first syntax element in the point cloud bitstream; parsing the point cloud bitstream to determine a value of the first syntax element according to the maximum permissible value; determining, according to the value of the first syntax element, a number of levels of detail (LODs) in a process of decoding the attribute information; and decoding the attribute information according to the number of the LODs and the geometry information, to determine a reconstructed point cloud of the point cloud.

A three-dimensional data encoding method includes: parsing a first syntax to determine, for each of at least one prediction tree in a slice, whether inter prediction or intra prediction is to be performed on the prediction tree, the prediction tree containing at least one three-dimensional point; and parsing a second syntax to determine a motion compensation mode to be performed on the prediction tree when the inter prediction is to be performed on the prediction tree.

A three-dimensional data encoding method includes: encoding nodes in an N-ary tree structure of a current three-dimensional point cloud, N being an integer greater than or equal to 2; and generating a bitstream including the nodes encoded. In the encoding: at least one node among the nodes is encoded using an inter prediction mode in which a reference three-dimensional point is referred to; and at least one other node among the nodes is encoded using an intra prediction mode in which the reference three-dimensional point is not referred to, the at least one other node being other than the at least one node. The bitstream further includes information which distinguishes between the at least one other node and the at least one node.

A three-dimensional data encoding method includes: adding a first information item to a bitstream, the first information item indicating whether a duplicated point is available, the duplicated point representing, using a single node, position information items of two or more three-dimensional points having a same position information item in a prediction tree showing a reference relation in predictive encoding; and adding second information items to the bitstream when the first information item indicates that the duplicated point is available, the second information items each corresponding to a different one of nodes included in the prediction tree, and indicating a total number of one or more three-dimensional points included in the different one of the nodes.

A three-dimensional data encoding method includes: calculating a prediction residual that is a difference between information of a three-dimensional point included in point cloud data and a predicted value; and generates a bitstream including first information with respect to the prediction residual, second information indicating a bit count of the first information, and third information indicating a bit count of the second information.

A three-dimensional data encoding method includes: calculating a prediction residual that is a difference between information of a three-dimensional point included in point cloud data and a predicted value; and generates a bitstream including first information with respect to the prediction residual, second information indicating a bit count of the first information, and third information indicating a bit count of the second information.

A scanning system and method for controlling an aiming light source (7), comprising: an image sensor (4), which sequentially exposes a pixel array through a rolling shutter to acquire an image of the target, the pixel array includes effective pixels (5) and non-imaging pixels (6), the effective pixels (5) are pixels that are actually used for image decoding, and the non-imaging pixels (6) are pixels that are not actually used for image decoding; an aiming light source (7) for projecting an aiming pattern (8) to aim at a target; a control unit (12) for controlling the image sensor (4) and the aiming light source (7), so that the aiming light source (7) is in turned off state during the exposure time of the effective pixel (5), and the aiming light source (7) is turned on during at least part of the exposure time of the non-imaging pixels (6).

A scanning system and method for controlling an aiming light source (7), comprising: an image sensor (4), which sequentially exposes a pixel array through a rolling shutter to acquire an image of the target, the pixel array includes effective pixels (5) and non-imaging pixels (6), the effective pixels (5) are pixels that are actually used for image decoding, and the non-imaging pixels (6) are pixels that are not actually used for image decoding; an aiming light source (7) for projecting an aiming pattern (8) to aim at a target; a control unit (12) for controlling the image sensor (4) and the aiming light source (7), so that the aiming light source (7) is in turned off state during the exposure time of the effective pixel (5), and the aiming light source (7) is turned on during at least part of the exposure time of the non-imaging pixels (6).

A decoder is configured to decode a plurality of texels from a received block of texture data encoded according to the Adaptive Scalable Texture Compression (ASTC) format, and includes a parameter decode unit configured to decode configuration data for the received block of texture data, a colour decode unit configured to decode colour endpoint data for the plurality of texels of the received block in dependence on the configuration data, a weight decode unit configured to decode interpolation weight data for each of the plurality of texels of the received block in dependence on the configuration data, and at least one interpolator unit configured to calculate a colour value for each of the plurality of texels of the received block using the interpolation weight data for that texel and a pair of colour endpoints from the colour endpoint data. At least one of the parameter decode unit, colour decode unit and weight decode unit are configured to decode intermediate data from the received block that is common to the decoding of at least a subset of texels of that block and to use that decoded intermediate data as part of the decoding of at least two of the plurality of texels from the received block of texture data.