Systems and methods for compressing a depthmap are provided. In some aspects, a system includes an encoding module configured to group a plurality of pixels of a depthmap. Each grouped pixel of the depthmap includes a depth value and is associated with an optic ray aligned with a camera capturing the depthmap. Each of the plurality of depth values is within a predetermined offset from one another. The encoding module is further configured to generate a primitive based on the grouped plurality of pixels. The primitive includes an identification value. Each of the plurality of optic rays intersects a corresponding portion of the primitive. The encoding module is further configured to transform the depthmap based on the primitive. Each grouped pixel of the transformed depthmap includes the identification value. The system also includes a compression module configured to compress the transformed depthmap.