Methods and devices for encoding and decoding a data stream representative of a 3D volumetric scene comprising haptic features associated with objects of the 3D scene are disclosed. At the encoding, haptic features are associated with objects of the scene, for instance as haptic maps. Haptic components are stored in points of the 3D scene as color may be. These components are projected onto patch pictures which are packed in atlas images. At the decoding, haptic components are un-projected onto reconstructed points as color may be according to the depth component of pixels of the decoded atlases.