Point cloud data transmission device, point cloud data transmission method, point cloud data reception device, and point cloud data reception method
A point cloud data transmission method according to embodiments may comprise the steps of: encoding point cloud data into geometry data; encoding attribute data of the point cloud data on the basis of the geometry data; and transmitting the encoded geometry data, the encoded attribute data, and signaling data, wherein the step of encoding the geometry data comprises a step of converting coordinates of the geometry data from a first coordinate system to a second coordinate system.
1 . A method of encoding point cloud data, the method comprising:
encoding geometry data of the point cloud data;
encoding attribute data of the point cloud data based on reconstructed geometry data including first coordinates or second coordinates; and
transmitting the encoded geometry data, the encoded attribute data, and signaling data,
wherein the signaling data includes a sequence parameter set and an attribute parameter set,
wherein the sequence parameter set includes number information for number N of attributes and bit depth information that is repeated as many as the number N of attributes,
wherein the attribute parameter set includes attribute coordinate conversion enable flag information that is capable of identifying whether the encoding of the attribute data is based on the first coordinates or the second coordinates,
wherein the attribute parameter set further includes scale factor information based on the attribute coordinate conversion enable flag information having a true value, and
wherein the first coordinates are Cartesian-based coordinates and the second coordinates are angular-based coordinates.
2 . The method of claim 1 , wherein the signaling data further contains information for identifying number of times of sampling per horizontal turn of lasers.
3 . A device for encoding point cloud data, the device comprising:
a processor to encode geometry data of the point cloud data and to encode attribute data of the point cloud data based on reconstructed geometry data including first coordinates or second coordinates; and
a transmitter to transmit the encoded geometry data, the encoded attribute data, and signaling data,
wherein the signaling data includes a sequence parameter set and an attribute parameter set,
wherein the sequence parameter set includes number information for number N of attributes and bit depth information that is repeated as many as the number N of attributes,
wherein the attribute parameter set includes attribute coordinate conversion enable flag information that is capable of identifying whether the encoding of the attribute data is based on the first coordinates or the second coordinates,
wherein the attribute parameter set further includes scale factor information based on the attribute coordinate conversion enable flag information having a true value, and
wherein the first coordinates are Cartesian-based coordinates and the second coordinates are angular-based coordinates.
4 . The device of claim 3 , wherein the signaling data contains information for identifying number of times of sampling per horizontal turn of lasers.
5 . A method of decoding point cloud data, the method comprising:
receiving geometry data, attribute data, and signaling data;
decoding the geometry data based on the signaling data; and
decoding the attribute data based on reconstructed geometry data including first coordinates or second coordinates based on the signaling data,
wherein the signaling data includes a sequence parameter set and an attribute parameter set,
wherein the sequence parameter set includes number information for a number N of attributes and bit depth information that is repeated as many as the number N of attributes,
wherein the attribute parameter set includes attribute coordinate conversion enable flag information that is capable of identifying whether encoding of the attribute data is based on the first coordinates or the second coordinates,
wherein the attribute parameter set further includes scale factor information based on the attribute coordinate conversion enable flag information having a true value, and
wherein the first coordinates are Cartesian-based coordinates and the second coordinates are angular-based coordinates.
6 . The method of claim 5 , wherein the signaling data contains information for identifying number of times of sampling per horizontal turn of lasers.
7 . A device for decoding point cloud data, the device comprising:
a receiver to receive geometry data, attribute data, and signaling data; and
a processor to decode the geometry data based on the signaling data and to decode the attribute data based on reconstructed geometry data including first coordinates or second coordinates based on the signaling data,
wherein the signaling data includes a sequence parameter set and an attribute parameter set,
wherein the sequence parameter set includes number information for a number N of attributes and bit depth information that is repeated as many as the number N of attributes,
wherein the attribute parameter set includes attribute coordinate conversion enable flag information that is capable of identifying whether encoding of the attribute data is based on the first coordinates or the second coordinates,
wherein the attribute parameter set further includes scale factor information based on the attribute coordinate conversion enable flag information having a true value, and
wherein the first coordinates are Cartesian-based coordinates and the second coordinates are angular-based coordinates.
8 . The device of claim 7 , wherein the signaling data further contains information for identifying number of times of sampling per horizontal turn of lasers.