A method and device for encoding data representative of a 3D representation of a scene into a bitstream, the 3D representation being according to a range of points of view. To reach that aim, at least a depth map associated with at least a part of the 3D representation is generated according to at least a parameter representative of at least a two-dimensional parametrization associated with the at least a part and data associated with at least a point comprised in the at least a part, the at least a two-dimensional parametrization being responsive to geometric information associated with the at least a point and to pose information associated with the range of points of view. At least a texture map associated with the at least a part is generated according to the at least a parameter and data associated with the at least a point comprised in the at least a part. A first information representative of point density of points comprised in at least a part of the at least a part of the 3D representation is obtained. The at least a depth map is encoded into a first syntax element of the bitstream, the at least a texture map into a second syntax element of the bitstream, the at least a parameter into a third syntax element of the bitstream, the first information into a fourth syntax element of the bitstream and a second information representative of a mapping between the at least a two-dimensional parametrization and corresponding at least a depth map and at least a texture map into a fifth syntax element of the bitstream.
Corresponding method and device for decoding the bitstream are also disclosed.