A system comprises an encoder configured to compress attribute information and/or spatial information for a point cloud and/or a decoder configured to decompress compressed attribute and/or spatial information for the point cloud. The encoder is configured to convert a point cloud into an image based representation. The encoder packs patch images into an image frame and fills empty spaces in the image frame with a padding. Auxiliary information is signaled for use in identifying patches in an image frame. The auxiliary information may be signaled using a syntax that includes a header portion and data portion, which may enable temporal prediction and timing information to be signaled.