Device and method for transmitting point cloud data, device and method for processing point cloud data

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

encoding point cloud data including geometry and attribute, the geometry representing positions of points of the point cloud data and the attribute including at least one of color and reflectance of the points, wherein:

the attribute is encoded based on one or more LODs (Level Of Details) that are generated by reorganizing the points, one or more neighbor points of a point of a LOD of the one or more LODs are selected based on a maximum neighbor distance; and

transmitting a bitstream including the encoded point cloud data,

wherein the maximum neighbor distance is generated based on a LOD and a neighbor search range for the point,

wherein the maximum neighbor distance is represented as 2 LoD 2 ×3×NN_range, and

wherein the LoD represents a level of LOD of the point, and the NN_range is a neighbor point search range that represents a number of one or more octree nodes around the point.

2. The method of claim 1 , wherein the encoding the point cloud data includes:

encoding the geometry; and

encoding the attribute.

3. The method of claim 2 , wherein the encoding the attribute includes:

generating the one or more LODs; and

performing prediction transformation based on the selected one or more neighbor points, wherein a distance between each of the one or more neighbor points and the point is less than or equal to the maximum neighbor distance.

4. The method of claim 3 , wherein:

levels of the one or more LODs correspond to depths of octree of the encoded geometry, the octree includes octree nodes.

5. The method of claim 1 , wherein an attribute parameter set syntax in the bitstream includes information related to the maximum neighbor distance.

6. A method for processing point cloud data, the method comprising:

receiving a bitstream including the point cloud data, the point cloud data including geometry and attribute, the geometry representing positions of points of the point cloud data, and the attribute including at least one of color and reflectance of the points; and

decoding the point cloud data, wherein the attribute is decoded based on one or more LODs (Level Of Details) that are generated by reorganizing the points, one or more neighbor points of a point of a LOD of the one or more LODs are selected based on a maximum neighbor distance,

wherein the maximum neighbor distance is generated based on a LOD and a neighbor search range for the point,

wherein the maximum neighbor distance is represented as 2 LoD 2 ×3×NN_range, and

wherein the LoD represents a level of LOD of the point, and the NN_range is a neighbor point search range that represents a number of one or more octree nodes around the point.

7. The method of claim 6 , wherein the decoding the point cloud data includes:

decoding the geometry; and

decoding the attribute.

8. The method of claim 7 , wherein the decoding the attribute includes:

generating the one or more LODs; and

performing prediction transformation based on the selected one or more neighbor points, wherein a distance between each of the selected one or more neighbor points and the point is less than or equal to the maximum neighbor distance.

9. The method of claim 8 , wherein levels of the one or more LODs correspond to depths of octree of the decoded geometry, the octree includes octree nodes, the maximum neighbor distance is calculated based on neighbor point search range that represents a number of one or more octree nodes around the point.

10. The method of claim 6 , wherein an attribute parameter set syntax in the bitstream includes information related to the maximum neighbor distance.

11. A device for processing point cloud data, the device comprising:

a receiver to receive a bitstream including the point cloud data, the point cloud data including geometry and attribute, the geometry representing positions of points of the point cloud data, the attribute including at least one of color and reflectance of the points; and

a decoder to decode the point cloud data, wherein the attribute is decoded based on one or more LODs (Level Of Details) that are generated by reorganizing the points, one or more neighbor points of a point of a LOD of the one or more LODs are selected based on a maximum neighbor distance,

wherein the maximum neighbor distance is generated based on a LOD and a neighbor search range for the point,

wherein the maximum neighbor distance is represented as 2 LoD 2 ×3×NN_range, and

wherein the LoD represents a level of LOD of the point, and the NN_range is a neighbor point search range that represents a number of one or more octree nodes around the point.

12. The device of claim 11 , wherein the decoder includes:

a geometry decoder to decode the geometry; and

an attribute decoder to decode the attribute.

13. The device of claim 12 , wherein the attribute decoder is further configured to:

generate the one or more LODs and perform prediction transformation based on the selected one or more neighbor points, wherein a distance between each of the selected one or more neighbor points and the point is less than or equal to the maximum neighbor distance.

14. The device of claim 13 , wherein levels of the one or more LODs correspond to depths of octree of the decoded geometry, the octree includes octree nodes, the maximum neighbor distance is calculated based on neighbor point search range that represents a number of one or more octree nodes around the point.

15. The device of claim 11 , wherein an attribute parameter set syntax in the bitstream includes information related to the maximum neighbor distance.

16. A device of transmitting point cloud data, the device comprising:

an encoder configured to encode point cloud data including geometry and attribute, the geometry representing positions of points of the point cloud data and the attribute including at least one of color and reflectance of the points, wherein:

the attribute is encoded based on one or more LODs (Level Of Details) that are generated by reorganizing the points, one or more neighbor points of a point of a LOD of the one or more LODs are selected based on a maximum neighbor distance; and

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

wherein the maximum neighbor distance is generated based on a LOD and a neighbor search range for the point,

wherein the maximum neighbor distance is represented as 2 LoD 2 ×3×NN_range, and

wherein the LoD represents a level of LOD of the point, and the NN_range is a neighbor point search range that represents a number of one or more octree nodes around the point.