A decoding device, an encoding device and a method for point cloud decoding is disclosed. The method includes receiving a bitstream. The method also includes decoding, from the compressed bitstream, a first frame, a second frame, and an occupancy map frame. The first and the second frame include pixels representing points of a 3D point cloud at different depths. The occupancy map frame indicates whether the pixels included in the first frame and the second frame at that position in the occupancy map frame are valid pixels and whether points of the 3D point cloud are positioned between the first frame and the second frame at that position in the occupancy map frame. The method further includes generating the 3D point cloud using the first frame, the second frame, and the occupancy map frame.