Point cloud data transmission device, point cloud data transmission method, point cloud data reception device, and point cloud data reception method

1. A method for receiving point cloud data by an apparatus, the method comprising:

receiving a bitstream including point cloud data,

the point cloud data including geometry data and attribute data;

decoding the geometry data; and

decoding the attribute data,

wherein the geometry data include octree information,

wherein LOD (Level of Detail)s are generated based on the octree information,

wherein only one of a first point or a last point of one or more points in a LOD is sampled based on an index of the LOD,

wherein, based on the index of the LOD, when the first point is sampled for the LOD, a last point of points included in a next LOD of the LOD is sampled, or

wherein, based on the index of the LOD, when the last point is sampled for the LOD, a first point of points included in the next LOD of the LOD is sampled.

2. The method of claim 1 ,

wherein the decoding the geometry data includes:

generating octree information for the geometry data,

setting a location of a point representing each node of the octree information as a nearest node for a center location of a bounding box of each node.

3. The method of claim 1 ,

wherein the decoding the attribute data includes:

changing a location value of points of the point cloud data into a morton code based on the geometry data and the attribute data,

arranging the points based on the morton code,

decoding the points from a depth level of octree information including the points.

4. The method of claim 3 ,

wherein the decoding the attribute data includes:

arranging points included in each node of octree information based on the morton code and a range value for the morton code.

5. An apparatus for receiving point cloud data, the apparatus comprising:

a receiver configured to receive a bitstream including point cloud data,

the point cloud data including geometry data and attribute data;

a decoder configured to decode the geometry data; and

a decoder configured to decode the attribute data,

wherein the geometry data including octree information,

wherein LOD (Level of Detail)s are generated based on the octree information,

wherein points in nodes of the LODs are sampled,

wherein only one of a first point or a last point of one or more points in a LOD is sampled based on an index of the LOD,

wherein, based on the index of the LOD, when the first point is sampled for the LOD, a last point of points included in a next LOD of the LOD is sampled, or

wherein, based on the index of the LOD, when the last point is sampled for the LOD, a first point of points included in the next LOD of the LOD is sampled.

6. The apparatus of claim 5 ,

wherein the decoder for the geometry data performs:

generating octree information for the geometry data,

setting a location of a point representing each node of the octree information as a nearest node for a center location of a bounding box of each node.

7. The apparatus of claim 5 ,

wherein the decoder for the attribute data performs:

changing a location value of points of the point cloud data into a morton code based on the geometry data and the attribute data,

arranging the points based on the morton code,

decoding the points from a depth level of octree information including the points.

8. The apparatus of claim 7 ,

wherein the decoder for the attribute data performs:

arranging points included in each node of octree information based on the morton code and a range value for the morton code.

9. A method for transmitting point cloud data by an apparatus, the method comprising:

encoding geometry data;

encoding attribute data,

the geometry data including octree information,

LOD (Level of Detail)s are generated based on the octree information,

points in nodes of the LODs are sampled,

wherein only one of a first point or a last point of one or more points in a LOD is sampled based on an index of the LOD;

transmitting a bitstream including point cloud data including the geometry data and the attribute data,

wherein, based on the index of the LOD, when the first point is sampled for the LOD, a last point of points included in a next LOD of the LOD is sampled, or

wherein, based on the index of the LOD, when the last point is sampled for the LOD, a first point of points included in the next LOD of the LOD is sampled.

10. The method of claim 9 ,

wherein the encoding the geometry data includes:

generating octree information for the geometry data,

setting a location of a point representing each node of the octree information as a nearest node for a center location of a bounding box of each node.

11. The method of claim 9 ,

wherein the encoding the attribute data includes:

changing a location value of points of the point cloud data into a morton code based on the geometry data and the attribute data,

arranging the points based on the morton code,

decoding the points from a depth level of octree information including the points.

12. The method of claim 11 ,

wherein the encoding the attribute data includes:

arranging points included in each node of octree information based on the morton code and a range value for the morton code.

13. An apparatus for transmitting point cloud data, the apparatus comprising:

an encoder configured to encode geometry data;

an encoder configured to encode attribute data,

the geometry data including octree information,

LOD (Level of Detail)s are generated based on the octree information,

points in nodes of the LODs are sampled,

wherein only one of a first point or a last point of one or more points in a LOD is sampled based on an index of the LOD;

a transmitter configured to transmit a bitstream including point cloud data including the geometry data and the attribute data,

wherein, based on the index of the LOD, when the first point is sampled for the LOD, a last point of points included in a next LOD of the LOD is sampled, or

wherein, based on the index of the LOD, when the last point is sampled for the LOD, a first point of points included in the next LOD of the LOD is sampled.