Provided is a method of processing and transmitting three-dimensional data represented as a point cloud.
The method of encoding three-dimensional (3D) data includes: generating a geometry image indicating position information of points, a texture image indicating color information of the points, and an occupancy map indicating occupancy information of the position information of the points in the geometry image, by projecting the points included in the 3D data onto a two-dimensional (2D) plane; generating a filtered occupancy map by performing filtering on the occupancy map; performing image padding on the geometry image and the texture image, based on the filtered occupancy map; and generating and outputting a bitstream including a padded geometry image, a padded texture image, a downsampled occupancy map, and information about the filtering performed on the occupancy map.