Method, an apparatus and a computer program product for video encoding and video decoding

An apparatus comprising at least one processor, memory including computer program code, the memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following:

• receive an input video frame comprising video data being represented by a point cloud;
• generate one or more bounding volumes around one or more points of the point cloud;
• encode a first depth image of highest points of the bounded volume, and encode a second depth image of the lowest points of the bounded volume across a first axis;
• determine a first section across a second axis from the first depth image and the second depth image to generate a feasible occupancy image and a list of pixels with unknown occupancy status;
• encode a binary sequence according to a true occupancy image, wherein the binary sequence transmits the occupancy status for the list of pixels with unknown occupancy status;
• detect anchoring points from the binary sequence, and encoding missing elements between the anchoring points by using anchored chain codes;
• determine a first section across a third axis from the bounding volume reconstructed so far and create a list of pixels with unknown status;
• encode a binary sequence according to the true occupancy image wherein the binary sequence conveys the occupancy status of the list of pixels with unknown status;
• detect the anchor points from the binary sequence and corresponding list of pixels;
• and encode missing elements between the anchoring points by using anchored chain codes.