Method and apparatus of entropy encoding/decoding point cloud geometry data captured by a spinning sensors head

Abstract

There is provided methods and apparatus of encoding/decoding a point cloud representing a physical object. Points of the point cloud are ordered based on azimuthal angles representing capture angles of sensors and sensor indices associated with sensors. The encoding method comprises encoding, into a bitstream, at least one order index difference representing a difference between order indices of two consecutive ordered points by: obtaining at least one binary data by binarizing the at least one order index difference; and for each binary data, selecting a context based on a distance between an azimuthal angle associated with the binary data and an azimuthal angle of an already encoded point, and context-based entropy coding the binary data in the bitstream, based on the selected context.