A method of encoding a point cloud to generate a bitstream of compressed point cloud data representing a three-dimensional location of an object, the point cloud being represented by a tree and being generated by a plurality of beam emitters, the method comprising: prior to step a) determining that the current node is eligible for Inferred Direct Coding Mode, IDCM, and that the current node is associated with the probing beam emitter characterized by a) determining a first coordinate and a second coordinate of a point belonging to a current node of the tree, and computing a radius from the first and second coordinates; b) determining a beam angle of a probing beam emitter, among the plurality of beam emitters, assumed to have acquired the point; c) initializing a range of values to all possible values for a third coordinate of the point; d) selecting a lower value and an upper value within the range of values, the lower value being selected from the lower half of the range and the upper value being selected from the upper half of the range; e) computing a lower angle based on the lower value and the radius, and computing an upper angle based on the upper value and the radius; f) selecting an angular context based on the lower angle, the upper angle and the beam angle; and g) entropy encoding information representative of the third coordinate of the point based on the angular context to generate the bitstream of compressed point cloud. prior to step a) determining that the current node is eligible for Inferred Direct Coding Mode, IDCM, and that the current node is associated with the probing beam emitter characterized by a) determining a first coordinate and a second coordinate of a point belonging to a current node of the tree, and computing a radius from the first and second coordinates; b) determining a beam angle of a probing beam emitter, among the plurality of beam emitters, assumed to have acquired the point; c) initializing a range of values to all possible values for a third coordinate of the point; d) selecting a lower value and an upper value within the range of values, the lower value being selected from the lower half of the range and the upper value being selected from the upper half of the range; e) computing a lower angle based on the lower value and the radius, and computing an upper angle based on the upper value and the radius; f) selecting an angular context based on the lower angle, the upper angle and the beam angle; and g) entropy encoding information representative of the third coordinate of the point based on the angular context to generate the bitstream of compressed point cloud. a) determining a first coordinate and a second coordinate of a point belonging to a current node of the tree, and computing a radius from the first and second coordinates; b) determining a beam angle of a probing beam emitter, among the plurality of beam emitters, assumed to have acquired the point; c) initializing a range of values to all possible values for a third coordinate of the point; d) selecting a lower value and an upper value within the range of values, the lower value being selected from the lower half of the range and the upper value being selected from the upper half of the range; e) computing a lower angle based on the lower value and the radius, and computing an upper angle based on the upper value and the radius; f) selecting an angular context based on the lower angle, the upper angle and the beam angle; and g) entropy encoding information representative of the third coordinate of the point based on the angular context to generate the bitstream of compressed point cloud.