SMPTE ST 2087-2016 Depth Map Representation.pdf

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1、 Copyright 2016 by THE SOCIETY OF MOTION PICTURE AND TELEVISION ENGINEERS 3 Barker Avenue, White Plains, NY 10601 (914) 761-1100 Approved July 29, 2016 Table of Contents Page Foreword 2 Intellectual Property . 2 Introduction. 2 1 Scope 3 2 Conformance Notation 3 3 Normative Reference 3 4 Definitions

2、 and Acronyms . 4 4.1 Reference Camera 4 4.2 Depth Value 4 4.3 Relative Depth Value 4 4.4 Depth Map . 4 5 Depth Map Representation . 4 5.1 32-Bit Depth Map Representation . 4 5.2 16-Bit Depth Map Representation . 4 6 Conversion between Representations 5 6.1 Derivation of 16-Bit Relative Depth Value

3、Representation from 32-Bit Depth Value Representation 5 6.2 Derivation of 32-Bit Depth Value Representation from 16-Bit Relative Depth Value Representation 5 7 Metadata . 6 7.1 DepthScaleFactor . 6 7.2 DepthOffset . 6 7.3 Depth Source Type . 6 7.4 Depth Remapping Type 6 Annex A Stereo Application (I

4、nformative) . 7 Annex B Bibliography (Informative) 9 Page 1 of 9 pages SMPTE ST 2087:2016 SMPTE STANDARD Depth Map Representation SMPTE ST 2087:2016 Page 2 of 9 pages Foreword SMPTE (the Society of Motion Picture and Television Engineers) is an internationally-recognized standards developing organiz

5、ation. Headquartered and incorporated in the United States of America, SMPTE has members in over 80 countries on six continents. SMPTEs Engineering Documents, including Standards, Recommended Practices, and Engineering Guidelines, are prepared by SMPTEs Technology Committees. Participation in these

6、Committees is open to all with a bona fide interest in their work. SMPTE cooperates closely with other standards-developing organizations, including ISO, IEC and ITU. SMPTE Engineering Documents are drafted in accordance with the rules given in its Standards Operations Manual. SMPTE ST 2087 was prep

7、ared by Technology Committee 10E. Intellectual Property At the time of publication no notice had been received by SMPTE claiming patent rights essential to the implementation of this Engineering Document. However, attention is drawn to the possibility that some of the elements of this document may b

8、e the subject of patent rights. SMPTE shall not be held responsible for identifying any or all such patent rights. Introduction This section is entirely informative and does not form an integral part of this Engineering Document. Depth information can be useful for improving a number of production a

9、nd post-production processes. For example, accurate depth information is necessary for the adjustment of the camera point of view during post-production. Depth information can also be used to assist in the compositing of multiple elements in a production that includes live action and CGI, for the pr

10、oper placement of overlays on multi-view content, and to improve the ability to render stereoscopic content for a wide variety of viewing environments. Depth information could also be included as part of the distribution package for multi-view content where getting the information close to the sourc

11、e is desirable. Depth information can be derived from a number of sources including animation rendering, multi-camera capture, and on-scene depth measurements. Each captured or synthesized view can have its own depth map. Disparity maps can be more conducive to some operations so a direct conversion

12、 between depth and disparity representations is desirable. It is expected that this information will be carried within a file structure defined in companion document(s). SMPTE ST 2087:2016 Page 3 of 9 pages 1 Scope This standard provides a data representation for depth information. This information

13、allows for simple interchange during production and post-production, and provides the essence for distribution of single-view and multi-view content. The standard specifies a 32-bit floating point representation and a 16-bit floating point representation for depth information. 2 Conformance Notation

14、 Normative text is text that describes elements of the design that are indispensable or contains the conformance language keywords: “shall“, “should“, or “may“. Informative text is text that is potentially helpful to the user, but not indispensable, and can be removed, changed, or added editorially

15、without affecting interoperability. Informative text does not contain any conformance keywords. All text in this document is, by default, normative, except: the Introduction, any section explicitly labeled as “Informative“ or individual paragraphs that start with “Note:” The keywords “shall“ and “sh

16、all not“ indicate requirements strictly to be followed in order to conform to the document and from which no deviation is permitted. The keywords, “should“ and “should not“ indicate that, among several possibilities, one is recommended as particularly suitable, without mentioning or excluding others

17、; or that a certain course of action is preferred but not necessarily required; or that (in the negative form) a certain possibility or course of action is deprecated but not prohibited. The keywords “may“ and “need not“ indicate courses of action permissible within the limits of the document. The k

18、eyword “reserved” indicates a provision that is not defined at this time, shall not be used, and may be defined in the future. The keyword “forbidden” indicates “reserved” and in addition indicates that the provision will never be defined in the future. A conformant implementation according to this

19、document is one that includes all mandatory provisions (“shall“) and, if implemented, all recommended provisions (“should“) as described. A conformant implementation need not implement optional provisions (“may“) and need not implement them as described. Unless otherwise specified, the order of prec

20、edence of the types of normative information in this document shall be as follows: Normative prose shall be the authoritative definition; Tables shall be next; followed by formal languages; then Figures; and then any other language forms. 3 Normative Reference The following standard contains provisi

21、ons that, through reference in this text, constitute provisions of this standard. At the time of publication, the edition indicated was valid. All standards are subject to revision, and parties to agreements based on this standard are encouraged to investigate the possibility of applying the most re

22、cent edition of the standard indicated below. IEEE 754-2008, IEEE Standard for Floating-Point Arithmetic SMPTE ST 2087:2016 Page 4 of 9 pages 4 Definitions and Acronyms The following definitions are used in this document. 4.1 Reference Camera The Reference Camera is the camera that corresponds to th

23、e particular viewpoint of the image corresponding to the depth representation. The Reference Camera can be a virtual camera such that it might not match a camera used for capture. 4.2 Depth Value A Depth Value is the distance in meters from the Reference Camera to a point on the surface of an object

24、 imaged by the camera. The distance is measured along a line parallel to the optical axis of the Reference Camera. The line originates from the plane that is both (a) perpendicular to the optical axis and (b) contains the center of perspective1, and ends at the point on the object. 4.3 Relative Dept

25、h Value A Relative Depth Value is an offset and scaled representation of the Depth Value. 4.4 Depth Map A Depth Map is an array of values corresponding to the pixels in an image from the Reference Camera. Each value in the array represents a Depth Value for the corresponding pixel. Different represe

26、ntations for Depth Values are possible. 5 Depth Map Representation A Depth Map shall contain one value for each pixel in the corresponding image. 5.1 32-Bit Depth Map Representation A 32-bit Depth Map is an array of Depth Values represented in the IEEE 754 single-precision (32-bit) binary floating-p

27、oint format. A Depth Value of 1 meter is represented as 1.0. (0x3F800000). A Depth Value of positive infinity is represented as +INF. (0x7F800000). If the Depth Value is unknown, then it shall be represented as NaN (Not A Number). (0x7FC00000) 2. For robustness, an implementation should use the spec

28、ified value for NaN when writing, but should accept any NaN value as NaN when reading. 5.2 16-Bit Depth Map Representation A 16-bit Depth Map is an array of Relative Depth Values in the IEEE 754 half-precision (16-bit) binary floating-point format. 1 Also known as “entrance pupil”. 2 Note: All NaN v

29、alues have at least the bits corresponding to +INF set, plus at least one more bit set, other than the most significant bit (the msb is the sign bit and may be set for a NaN). SMPTE ST 2087:2016 Page 5 of 9 pages These values and associated metadata (DepthScaleFactor and DepthOffset) are necessary t

30、o determine the corresponding Depth Value. A Relative Depth Value of positive infinity is represented as +INF. (0x7C00). If the Relative Depth Value is unknown, then it shall be represented as NaN (Not A Number). (0x7E00)2. For robustness, an implementation should use the specified value for NaN whe

31、n writing, but should accept any NaN value as NaN when reading. If the Relative Depth Value is neither +INF, nor NaN, then its representation shall be in the range -65504.0 to 65504.0 inclusive. 6 Conversion between Representations The derivations below should be performed in no less than single-pre

32、cision floating point format. 6.1 Derivation of 16-Bit Relative Depth Value Representation from 32-bit Depth Value Representation If the Depth Value is NaN, then the Relative Depth Value shall also be NaN. If the Depth Value is +INF, then the Relative Depth Value shall also be +INF. If the Depth Val

33、ue is neither NaN, nor +INF, then compute an intermediate value, ZInt as follows: Equation 6.1 = Where, Z denotes a Depth Value, S denotes the DepthScaleFactor, Zc denotes the DepthOffset. If ZInt is greater than 65504.0, then the Relative Depth Value shall be equal to 65504.0. If ZInt is less than

34、-65504.0, then the Relative Depth Value shall be equal to -65504.0. If ZInt is in the range -65504.0 to 65504.0 inclusive, then the Relative Depth Value shall be equal to the half-precision floating point value nearest to ZInt. 6.2 Derivation of 32-Bit Depth Value Representation from 16-Bit Relative

35、 Depth Value Representation If the Relative Depth Value is NaN, then the Depth Value shall also be NaN. If the Relative Depth Value is +INF, then the Depth Value shall also be +INF. If the Relative Depth Value is neither NaN, nor +INF, then the Depth Value, denoted by Z, shall be derived from the Re

36、lative Depth Value, denoted by Z, as follows: SMPTE ST 2087:2016 Page 6 of 9 pages Equation 8.2 = + Where, S denotes the DepthScaleFactor Zc denotes the DepthOffset. 7 Metadata 7.1 DepthScaleFactor The DepthScaleFactor value shall be provided if the Depth Map contains 16-bit Relative Depth Values. T

37、he DepthScaleFactor value shall be a positive real number in the IEEE 754 single-precision (32-bit) binary floating-point format. 7.2 DepthOffset The DepthOffset value shall be provided if the Depth Map contains 16-bit Relative Depth Values. The DepthOffset value shall be a non-negative real number

38、in the IEEE 754 single-precision (32-bit) binary floating-point format. 7.3 DepthSourceType DepthSourceType, if present, shall indicate the origin of the depth map as an 8-bit integer. The depth map may originate from a variety of sources. The source of the Depth Map may be annotated according to th

39、e following table: DepthSourceType Description 0 Unknown or undefined 1 Animation rendering 2 Movie production, prepared offline 3 Multi-view camera capture, prepared offline 4 Multi-view camera capture, from live action 5 On-scene depth measurements 5 Reserved 7.4 DepthRemappingType DepthRemappingT

40、ype, if present, shall be an 8-bit integer that defines whether remapping (editing) has been applied to the Depth Values. The remapping may be annotated according to the following table: DepthRemappingType Description 0 Not remapped 1 Remapped 1 Reserved SMPTE ST 2087:2016 Page 7 of 9 pages Annex A

41、Stereo Application (Informative) The relationship between the Depth Value of an object and the disparity that occurs when images of the object are captured using a stereo camera setup can be found by taking into account the interaxial distance, focal length, and effective pixel size of the cameras.

42、The following figure illustrates this relationship by assuming a shift sensor stereo camera setup. The disparity, d, measured in pixels, caused by an object at a depth of Z from the cameras can be found as, Equation B.1 = 2( ) = ( 1 1) Where, Zc denotes the distance to the plane of convergence. dc d

43、enotes the required sensor shift in pixels for each camera in order to obtain a distance to convergence of Zc do denotes the horizontal distance in pixels from the optical axis of the camera to the projection of the object on the camera sensor, fc denotes the focal length of the two cameras assumed

44、to be equal, tc denotes the interaxial distance, Ec denotes the effective width of a pixel in the camera, Conversely, the depth can be derived given the disparity as: SMPTE ST 2087:2016 Page 8 of 9 pages Equation B.2 = 1(1 )Where, A is equal to fctc/Ec. Alternatively, if a parallel camera setup with

45、 no sensor shift is assumed, then Zc approaches infinity. In that case, the disparity can be computed as a function of the depth as, Equation B.3 = Conversely, the depth, Z, can be computed from the disparity as, Equation B.4 = SMPTE ST 2087:2016 Page 9 of 9 pages Annex B Bibliography (Informative)

46、The following documents are among those consulted in relation to this standard: SMPTE ST 2066-2012, Disparity Map Representation for Stereoscopic 3D SMPTE EG 2061:2016, Stereoscopic Distribution Master Glossary In particular, these standards describe the image resolutions supported by this standard:

47、 SMPTE ST 274:2008, Television 1920 x 1080 Image Sample Structure, Digital Representation and Digital Timing Reference Sequences for Multiple Picture Rates SMPTE ST 296:2012, 1280 x 720 Progressive Image 4:2:2 and 4:4:4 Sample Structure Analog and Digital Representation and Analog Interface SMPTE ST 2036-1:2014, Ultra High Definition Television Image Parameter Values for Program Production SMPTE ST 2048-1:2011, 2048 1080 and 4096 2160 Digital Cinematography Production Image Formats FS/709