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

1. A point cloud data transmission method performed by an apparatus, the method comprising:

acquiring point cloud data;

encoding geometry data including positions of points of the point cloud data;

encoding attribute data including attribute values of the points of the point cloud data based on the geometry data;

encapsulating a geometry-based point cloud compression (G-PCC) bitstream that includes the encoded geometry data, the encoded attribute data and signaling data into a file; and

transmitting the file,

wherein the signaling data includes parameter sets,

wherein the G-PCC bitstream is comprised of type-length-value (TLV) encapsulation structures,

wherein each of the TLV encapsulation structures consists of type information, length information and a payload,

wherein the type information indicates a type of data in the payload, the length information indicates a length of the payload and the payload includes one of the encoded geometry data, the encoded attribute data, and each of the parameter sets, and

wherein the G-PCC bitstream is stored either in a single track or in multiple tracks of the file by the TLV encapsulation structure.

2. The method of claim 1 ,

wherein, when the G-PCC bitstream is stored in the single track, a TLV encapsulation structure including the geometry data and a TLV encapsulation structure including the attribute data are stored in a sample of the single track and TLV encapsulation structures including the parameter sets are stored in at least one of a sample entry and the sample of the single track.

3. The method of claim 1 ,

wherein, when the G-PCC bitstream is stored in the multiple tracks, a TLV encapsulation structure including the geometry data and a TLV encapsulation structure including the attribute data are stored in a sample of a separate track, respectively, and TLV encapsulation structures including the parameter sets are stored in at least one of a sample entry and the sample of the separate track, respectively.

4. The method of claim 3 ,

wherein the sample entry of the separate track, respectively, further includes a box for indicating whether a corresponding track carries the TLV encapsulation structure including the geometry data or the TLV encapsulation structure including the attribute data.

5. A point cloud data reception method performed by an apparatus, the method comprising:

receiving a file;

decapsulating the file into a geometry-based point cloud compression (G-PCC) bitstream that includes geometry data, attribute data and signaling data, the signaling data including parameter sets, wherein the G-PCC bitstream is comprised of type-length-value (TLV) encapsulation structures, wherein the G-PCC bitstream is stored either in a single track or in multiple tracks of the file by the TLV encapsulation structure, wherein each of the TLV encapsulation structures consists of type information, length information and a payload, and wherein the type information indicates a type of data in the payload, the length information indicates a length of the payload and the payload includes one of the geometry data, the attribute data, and each of the parameter sets;

decoding the geometry data included in one of the TLV encapsulation structures;

decoding the attribute data included in one of the TLV encapsulation structures based on the decoded geometry data; and

restoring point cloud data based on the decoded geometry data including positions of points of the point cloud data, the decoded attribute data including attribute values of the points of the point cloud data, and the signaling data.

6. The method of claim 5 ,

wherein, when the G-PCC bitstream is stored in the single track, the TLV encapsulation structure including the geometry data and the TLV encapsulation structure including the attribute data are stored in a sample of the single track and TLV encapsulation structures including the parameter sets are stored in at least one of a sample entry and the sample of the single track.

7. The method of claim 5 ,

wherein, when the G-PCC bitstream is stored in the multiple tracks, the TLV encapsulation structure including the geometry data and the TLV encapsulation structure including the attribute data are stored in a sample of a separate track, respectively, and TLV encapsulation structures including the parameter sets are stored in at least one of a sample entry and the sample of the separate track, respectively.

8. The method of claim 7 ,

wherein the sample entry of the separate track, respectively, further includes a box for indicating whether a corresponding track carries the TLV encapsulation structure including the geometry data or the TLV encapsulation structure including the attribute data.

9. A point cloud data reception apparatus, the apparatus comprising:

a receiver to receive a file;

a decapsulator to decapsulate the file into a geometry-based point cloud compression (G-PCC) bitstream that includes geometry data, attribute data and signaling data, the signaling data including parameter sets, wherein the G-PCC bitstream is comprised of a sequence of type-length-value (TLV) encapsulation structures, wherein the G-PCC bitstream is stored either in a single track or in multiple tracks of the file by the TLV encapsulation structure, wherein each of the TLV encapsulation structures consists of type information, length information and a payload, and wherein the type information indicates a type of data in the payload, the length information indicates a length of the payload and the payload includes one of the geometry data, the attribute data, and each of the parameter sets;

a geometry decoder to decode the geometry data included in one of the TLV encapsulation structures;

an attribute decoder to decode the attribute data included in one of the TLV encapsulation structures based on the decoded geometry data; and

a processor to restore point cloud data based on the decoded geometry data including positions of points of the point cloud data, the decoded attribute data including attribute values of the points of the point cloud data, and the signaling data.

10. The apparatus of claim 9 ,

wherein, when the G-PCC bitstream is stored in the single track, the TLV encapsulation structure including the geometry data and the TLV encapsulation structure including the attribute data are stored in a sample of the single track and TLV encapsulation structures including the parameter sets are stored in at least one of a sample entry and the sample of the single track.

11. The apparatus of claim 9 ,

wherein, when the G-PCC bitstream is stored in the multiple tracks, the TLV encapsulation structure including the geometry data and the TLV encapsulation structure including the attribute data are stored in a sample of a separate track, respectively, and TLV encapsulation structures including the parameter sets are stored in at least one of a sample entry and the sample of the separate track, respectively.

12. The apparatus of claim 11 ,

wherein the sample entry of the separate track, respectively, further includes a box for indicating whether a corresponding track carries the TLV encapsulation structure including the geometry data or the TLV encapsulation structure including the attribute data.

13. A point cloud data transmission apparatus, the apparatus comprising:

an acquirer to acquire point cloud data;

a geometry encoder to encode geometry data including positions of points of the point cloud data;

an attribute encoder to encode attribute data including attribute values of the points of the point cloud data based on the geometry data;

an encapsulator to encapsulate a geometry-based point cloud compression (G-PCC) bitstream that includes the encoded geometry data, the encoded attribute data and signaling data into a file; and

a transmitter to transmit the file,

wherein the signaling data includes parameter sets,

wherein the G-PCC bitstream is comprised of type-length-value (TLV) encapsulation structures,

wherein each of the TLV encapsulation structures consists of type information, length information and a payload,

wherein the type information indicates a type of data in the payload, the length information indicates a length of the payload and the payload includes one of the encoded geometry data, the encoded attribute data, and each of the parameter sets, and

wherein the G-PCC bitstream is stored either in a single track or in multiple tracks of the file by the TLV encapsulation structure.

14. The apparatus of claim 13 ,

wherein, when the G-PCC bitstream is stored in the single track, a TLV encapsulation structure including the geometry data and a TLV encapsulation structure including the attribute data are stored in a sample of the single track and TLV encapsulation structures including the parameter sets are stored in at least one of a sample entry and the sample of the single track.

15. The apparatus of claim 13 ,

wherein, when the G-PCC bitstream is stored in the multiple tracks, a TLV encapsulation structure including the geometry data and a TLV encapsulation structure including the attribute data are stored in a sample of a separate track, respectively, and TLV encapsulation structures including the parameter sets are stored in at least one of a sample entry and the sample of the separate track, respectively.

16. The apparatus of claim 15 ,

wherein the sample entry of the separate track, respectively, further includes a box for indicating whether a corresponding track carries the TLV encapsulation structure including the geometry data or the TLV encapsulation structure including the attribute data.