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:

encoding point cloud data including volumetric data as a bitstream;

encapsulating the encoded point cloud data and metadata for the encoded point cloud data into a file according to an ISO base media file format(ISOBMFF),

wherein the metadata includes object information of one or more objects presented in the volumetric data, and the object information includes an object identifier representing an object and object direction information for the object represented by the object identifier,

wherein the metadata further includes information representing a shape of a point of the point cloud data and information representing a size of the point,

wherein the shape of the point includes a circle shape,

wherein the metadata further includes information representing an x component, a y component and a z component of an origin position of a bounding box for the object,

wherein the metadata further includes information representing an x component, a y component and a z component of a position of a camera related to a viewport, and

wherein the metadata further includes information representing horizontal and vertical ranges for a Field of View (FoV); and

transmitting the bitstream.

2. The method of claim 1 ,

wherein the metadata further includes information representing an x component, a y component and a z component for a direction of the camera related to a viewport, and

wherein the object information is included in Supplemental Enhancement Information (SEI) message that is contained in a NAL_unit of the bitstream.

3. The method of claim 2 ,

wherein the metadata includes information for the volumetric data, the information for the volumetric data includes position related information used for reconstructing the volumetric data and direction related information applied for the volumetric data, the direction related information includes information representing a forward direction of the volumetric data, and information representing an upper direction for the volumetric data.

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

receiving a file of an ISO base media file format (ISOBMFF);

decapsulating the file into a bitstream including point cloud data and metadata for the point cloud data; and

decoding the point cloud data in the bitstream based on the metadata; and

reconstructing volumetric data of the decoded point cloud data based on the metadata,

wherein the metadata includes object information of one or more objects presented in the volumetric data, and the object information includes an object identifier representing an object and object direction information for the object represented by the object identifier,

wherein the metadata further includes information representing a shape of a point of the point cloud data and information representing a size of the point,

wherein the shape of the point includes a circle shape,

wherein the metadata further includes information representing an x component, a y component and a z component of an origin position of a bounding box for the object,

wherein the metadata further includes information representing an x component, a y component and a z component of a position of a camera related to a viewport, and

wherein the metadata further includes information representing horizontal and vertical ranges for a Field of View (FoV).

5. The method of claim 4 ,

wherein the metadata further includes information representing an x component, a y component and a z component for a direction of the camera related to a viewport, and

wherein the object information is included in Supplemental Enhancement Information (SEI) message that is contained in a NAL_unit of the bitstream.

6. The method of claim 5 , wherein the metadata includes information for the volumetric data, the information for the volumetric data includes position related information used for reconstructing the volumetric data and direction related information applied for the volumetric data, the direction related information includes information representing a forward direction of the volumetric data, and information representing an upper direction for the volumetric data.

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

a receiver configured to receive a file of an ISO base media file format (ISOBMFF);

a decapsulator configured to decapsulate the file into a bitstream including point cloud data and metadata for the point cloud data; and

a decoder configured to decode the point cloud data in the bitstream based on the metadata; and

a processor configured to reconstruct volumetric data of the decoded point cloud data based on the metadata,

wherein the metadata includes object information of one or more objects presented in the volumetric data, and the object information includes an object identifier representing an object and object direction information for the object represented by the object identifier,

wherein the metadata further includes information representing a shape of a point of the point cloud data and information representing a size of the point,

wherein the shape of the point includes a circle shape,

wherein the metadata further includes information representing an x component, a y component and a z component of an origin position of a bounding box for the object, and

wherein the metadata further includes information representing an x component, a y component and a z component of an origin position of a bounding box for the object,

wherein the metadata further includes information representing an x component, a y component and a z component of a position of a camera related to a viewport, and

wherein the metadata further includes information representing horizontal and vertical ranges for a Field of View (FoV).

8. The apparatus of claim 7 ,

wherein the metadata further includes information representing an x component, a y component and a z component for a direction of the camera related to a viewport, and

wherein the object information is included in Supplemental Enhancement Information (SEI) message that is contained in a NAL unit of the bitstream.

9. The apparatus of claim 8 , wherein the metadata includes information for the volumetric data, the information for the volumetric data includes position related information used for reconstructing the volumetric data and direction related information applied for the volumetric data, the direction related information includes information representing a forward direction of the volumetric data, and information representing an upper direction for the volumetric data.