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 transmitting point cloud data, the method comprising:

geometry encoding geometry data of the point cloud data;

attribute encoding attribute data of the point cloud data; and

transmitting a bitstream including the point cloud data,

wherein the point cloud data is acquired based on a laser sensor and points of the geometry data have laser angles,

wherein the encoding the geometry data includes:

determining an origin for the geometry data,

wherein the origin for the points satisfied that both a center laser angle point of 90 degrees and a left most left point is selected based on laser angles,

re-ordering the points based on the laser angles, and

generating a predictive tree for the points.

2. The method of claim 1 ,

wherein the geometry encoding the geometry data includes

generating the predictive tree for the geometry data based on a laser angle for the point cloud data,

wherein the predictive tree includes a parent node and a child node of the parent node,

wherein a laser angle value of the parent node is lower than a laser angle value of the child node.

3. The method of claim 1 ,

wherein the bitstream includes first signaling information for a re-ordering method of the points, and second signaling information for a type of the predictive tree for the geometry data.

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

an encoder configured to:

geometry encode geometry data of the point cloud data,

attribute encode attribute data of the point cloud data; and

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

wherein the point cloud data is acquired based on a laser sensor and points of the geometry data have laser angles,

wherein the geometry encoding includes:

determining an origin for the geometry data,

wherein the origin for the points satisfied that both a center laser angle point of 90 degrees and a left most left point is selected based on laser angles,

re-ordering the points based on the laser angles, and

generating a predictive tree for the points.

5. The apparatus of claim 4 ,

wherein the encoder performs:

generating the predictive tree for the geometry data based on a laser angle for the point cloud data,

wherein the predictive tree includes a parent node and a child node of the parent node,

wherein a laser angle value of the parent node is lower than a laser angle value of the child node.

6. The apparatus of claim 4 ,

wherein the bitstream includes first signaling information for a re-ordering method of the points, and second signaling information for a type of the predictive tree for the geometry data.

7. A method for receiving point cloud data, the method comprising:

receiving a bitstream including point cloud data;

geometry decoding geometry data of the point cloud data; and

attribute decoding attribute data of the point cloud data,

wherein the point cloud data is acquired based on a laser sensor and points of the geometry data have laser angles,

wherein an origin for the geometry data is determined, wherein the origin for the points satisfied that both a center laser angle point of 90 degrees and a left most left point is selected based on laser angles, wherein the points are re-ordered based on the laser angles, and wherein a predictive tree for the points is generated.

8. The method of claim 7 ,

wherein the geometry decoding includes

generating the predictive tree for the geometry data based on a laser angle for the point cloud data,

wherein the predictive tree includes a parent node and a child node of the parent node,

wherein a laser angle value of the parent node is lower than a laser angle value of the child node.

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

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

a decoder configured to:

wherein an origin for the geometry data is determined, wherein the origin for the points satisfied that both a center laser angle point of 90 degrees and a left most left point is selected based on laser angles, wherein the points are re-ordered based on the laser angles, and wherein a predictive tree for the points is generated.