Point cloud data transmission device, point cloud data transmission method, point cloud data reception device, and point cloud data reception method

A device for encoding point cloud data, the device comprising:

• an encoder configured to encode the point cloud data;
• and
• a transmitter configured to transmit the encoded point cloud data and signaling information,
• wherein
• a tree structure including the point cloud data is segmented into one or more layer group,
• wherein each of the one or more layer-groups includes one or more subgroups,
• wherein the encoding is performed in units of subgroups, and
• wherein the signaling information includes first identification information for identifying
• each layer group, second identification information for identifying each subgroup, origin information for specifying an origin position of a bounding box of a subgroup identified by the first identification information and the second identification information, size information for specifying a size of the bounding box of the subgroup, first length information for specifying a length in bits of the origin information, and second length information for specifying a length in bits of the size information.

A method of decoding point cloud data, the method comprising:

• receiving the point cloud data and signaling information;
• and
• decoding the point cloud data based on the signaling information,
• wherein a tree structure including the point cloud data is segmented into one or more layer groups,
• wherein each of the one or more layer-groups includes one or more subgroups,
• wherein the decoding of the point cloud data is performed in units of subgroups based on the signaling information, and
• wherein the signaling information includes first identification information for identifying each layer group, second identification information for identifying each subgroup, origin information for specifying an origin position of a bounding box of a subgroup identified by the first identification information and the second identification information, size information for specifying a size of the bounding box of the subgroup, first length information for specifying a length in bits of the origin information, and second length information for specifying a length in bits of the size information.

A device for decoding point cloud data, the device comprising:

• a receiver configured to the point cloud data and signaling information;
• and
• a decoder configured to decode the point cloud data based on the signaling information,
• wherein a tree structure including the point cloud data is segmented into one or more layer groups,
• wherein each of the one or more layer-groups includes one or more subgroups,
• wherein the decoding of the point cloud data is performed in units of subgroups based on the signaling information, and
• wherein the signaling information includes first identification information for identifying each layer group, second identification information for identifying each subgroup, origin information for specifying an origin position of a bounding box of a subgroup identified by the first identification information and the second identification information, size information for specifying a size of the bounding box of the subgroup, first length information for specifying a length in bits of the origin information, and second length information for specifying a length in bits of the size information.