Method and apparatus of encoding/decoding point cloud geometry data sensed by at least one sensor

A method of decoding, from a bitstream, point cloud geometry data represented by ordered coarse points occupying some discrete positions of a set of discrete positions of a two-dimensional space, wherein the method comprises obtaining at least one binary data (fj) representative of an order index difference representative of a difference between order indices of two consecutive occupied coarse points by:

• obtaining coordinates of a current coarse point (Pj) within the two-dimensional space;
• obtaining a sensing number (Nsens(sj,λj)) from the current coarse point (Pj), the sensing number (Nsens(sj,λj)) being representative of an average number of consecutive sensing needed by a sensor (λj) associated with the current coarse point (Pj) to sense another coarse point;
• and
• entropy decoding, into the bitstream, the binary data (fj) based on the sensing number (Nsens(sj,λj)).

An apparatus of encoding, into a bitstream, point cloud geometry data represented by ordered coarse points occupying some discrete positions of a set of discrete positions of a two-dimensional space, wherein the apparatus comprises at least one processor configured to obtain at least one binary data (fj) representative of an order index difference representative of a difference between order indices of two consecutive occupied coarse points and encoding each of the at least one binary data (fj) by:

• obtaining coordinates (sj,λj) of a current coarse point (Pj) within the two-dimensional space;
• obtaining a sensing number (Nsens(sj,λj) from the current coarse point (Pj), the sensing number (Nsens(sj,λj)) being representative of an average number of consecutive sensing needed by a sensor (λj) associated with the current coarse point (Pj) to sense another coarse point;
• and
• entropy encoding, into the bitstream, the binary data (fj) based on the sensing number (Nsens(sj,λj)).