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

A device for transmitting point cloud data, comprising:

• an encoder configured to encode the point cloud data including points;
• and
• a transmitter configured to transmit the encoded point cloud data and signaling information,
• wherein the encoder comprises:
• a partitioner configured to partition the point cloud data into a plurality of units;
• a core point selector configured to select one or more core points in each of the partitioned units;
• a core point list generator configured to generate one or more core mapping lists based on the selected one or more core points;
• and
• a predictor configured to inter-predict and compress the point cloud data based on the one or more core mapping lists.

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

• receiving the point cloud data and signaling information;
• decoding the point cloud data based on the signaling information;
• and
• rendering points included in the decoded point cloud data,
• wherein the decoding of the point cloud data comprises:
• partitioning the received point cloud data into a plurality of units based on the signaling information;
• generating one or more core mapping lists for each of the partitioned units based on the signaling information;
• and
• inter-predicting and decompressing the point cloud data based on the signaling information and the one or more core mapping lists.