Three-dimensional data encoding method and device, and three-dimensional data decoding method and device

An apparatus for encoding three-dimensional (3D) data, the apparatus comprising:

• a memory;
• a communicator;
• and
• at least one processor,
• wherein the at least one processor is configured to:
• generate a geometry image indicating position information of points included in the 3D data, a texture image indicating color information of the points, and an occupancy map indicating occupancy information of the position information of the points in the geometry image, by projecting the points included in the 3D data onto a two-dimensional (2D) plane;
• generate a filtered occupancy map by performing filtering on the occupancy map;
• perform image padding on the geometry image and the texture image, based on the filtered occupancy map;
• and
• generate and output a bitstream including a padded geometry image, a padded texture image, a downsampled occupancy map, and information about the filtering performed on the occupancy map.

A method of decoding three-dimensional (3D) data, the method comprising:

• receiving a bitstream;
• obtaining, from the bitstream, a texture image, a geometry image, an occupancy map, and filtering information;
• generating a filtered occupancy map by performing filtering on the occupancy map, based on the filtering information, wherein the filtering comprises at least one of upsampling or downsampling;
• reconstructing position information of points based on the geometry image and the filtered occupancy map;
• and
• reconstructing 3D data by reconstructing color information of points with reconstructed position information, based on the texture image.

An apparatus for decoding three-dimensional (3D) data, the apparatus comprising:

• a memory;
• a communicator;
• and
• at least one processor,
• wherein the at least one processor is configured to:
• receive a bitstream;
• obtain, from the bitstream, a texture image, a geometry image, an occupancy map, and filtering information,
• generate a filtered occupancy map by performing filtering on the occupancy map based on the filtering information, wherein the filtering comprises at least one of upsampling or downsampling;
• reconstruct position information of points based on the geometry image and the filtered occupancy map, and
• reconstruct 3D data by reconstructing color information of points with reconstructed position information, based on the texture image.