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

1. A method of transmitting point cloud data, the method comprising:

encoding point cloud data including geometry data and attribute data; and

transmitting a bitstream including the point cloud data,

wherein a bitstream for the geometry data includes Network Abstract Layer (NAL) units,

wherein each NAL unit includes geometry data in each depth of a tree related to the geometry data,

wherein a bitstream for the attribute data includes Network Abstract Layer (NAL) units, and

wherein each NAL unit includes attribute data in each Level of Detail (LOD) related to the attribute data.

2. The method of claim 1 ,

wherein the bitstream includes signaling information for one or more slices for the geometry data and the attribute data.

3. The method of claim 1 ,

wherien the geometry bitstream is segmented based on the depth of the tree,

wherein the attribute bitstream is segmented based on the LOD,

wherien the tree is an octree structure, and

wherein the attribute data are included in the LOD.

4. The method of claim 2 ,

wherein the NAL unit includes header information.

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

an encoder configured to encode point cloud data including geometry data and attribute data; and

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

wherein a bitstream for the geometry data includes Network Abstract Layer (NAL) units,

wherein each NAL unit includes geometry data in each depth of a tree related to the geometry data,

wherein a bitstream for the attribute data includes Network Abstract Layer (NAL) units, and

wherein each NAL unit includes attribute data in each Level of Detail (LOD) related to the attribute data.

6. The apparatus of claim 5 ,

wherien the geometry bitstream is segmented based on the depth of the tree,

wherein the attribute bitstream is segmented based on the LOD, and

wherein the bitstream includes signaling information for one or more slices for the geometry data and the attribute data.

7. The apparatus of claim 6 ,

wherien the tree is an octree structure, and

wherein the attribute data are included in the LOD.

8. The apparatus of claim 6 ,

wherein the NAL unit includes header information.

9. A method of receiving point cloud data, the method comprising:

receiving a bitstream including point cloud data including geometry data and attribute data;

decoding the point cloud data,

wherein a bitstream for the geometry data includes Network Abstract Layer (NAL) units,

wherein each NAL unit includes geometry data in each depth of a tree related to the geometry data,

wherein a bitstream for the attribute data includes Network Abstract Layer (NAL) units, and

wherein each NAL unit includes attribute data in each Level of Detail (LOD) related to the attribute data.

10. The method of claim 9 ,

wherein the bitstream includes signaling information for one or more slices for the geometry data and the attribute data.

11. The method of claim 9 ,

wherien the tree is an octree structure,

wherein the attribute data are included in the LOD,

wherein the bitstream includes a geometry bitstream including the geometry data and an attribute bitstream including the attribute data,

wherien the geometry bitstream is segmented based on the depth of the tree, and

wherein the attribute bitstream is segmented based on the LOD.

12. The method of claim 10 ,

wherein each NAL unit in the bitstream for the geometry data is matched to each depth for the tree,

wherein each NAL unit in the bitstream for the attribute data is matched to each LOD, and

wherein the NAL unit includes header information.

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

a receiver configured to receive a bitstream including point cloud data including geometry data and attribute data;

a decoder configured to decode the point cloud data,

wherein a bitstream for the geometry data includes Network Abstract Layer (NAL) units,

wherein each NAL unit includes geometry data in each depth of a tree related to the geometry data,

wherein a bitstream for the attribute data includes Network Abstract Layer (NAL) units, and

wherein each NAL unit includes attribute data in each Level of Detail (LOD) related to the attribute data.

14. The apparatus of claim 13 ,

wherien the geometry bitstream is segmented based on the depth of the tree, and

wherein the attribute bitstream is segmented based on the LOD, and

wherein the bitstream includes signaling information for one or more slices for the geometry data and the attribute data.

15. The apparatus of claim 14 ,

wherien the tree is an octree structure,

wherein the attribute data are included in the LOD,

wherein each NAL unit in the bitstream for the geometry data is matched to each depth fo the tree,

wherein each NAL unit in the bitstream for the attribute data is matched to each LOD, and

wherein the NAL unit includes header information.