An encoding device and a method for point cloud encoding are disclosed. The method includes segmenting an area including points representing a three-dimensional (3D) point cloud into multiple voxels. The method also includes generating a patch information for each of the multiple voxels that include at least one of the points of the 3D point cloud. The method further includes assigning the patch information of the multiple voxels to the points included in each respective voxel, to generate patches that represent the 3D point cloud based on the patch information of the multiple voxels. Additionally, the method includes generating frames that include pixels that represent the patches. The method also includes encoding the frames to generate a bitstream and transmitting the bitstream.