A method for encoding texture data and depth data of volumetric video comprising: obtaining volumetric video data containing information of one or more three-dimensional objects; mapping the one or more three-dimensional objects to a two-dimensional projection plane (T, D) with a pre-determined vertical and horizontal resolution; characterized in that the method comprises: examining a given point in the two-dimensional projection plane (T, D) to determine which points (p) of the three-dimensional object are mapped to the same given point to obtain a set of candidate points; determining which points of the set of candidate points belong to a same surface to obtain a set of surface points by comparing depth data of the points which are mapped to the same given point in the two-dimensional projection plane (T, D); determining a centre of mass for the surface on the basis of points of the set of surface points; mapping a depth value of the centre of mass as the depth value of the pixel representing the given point in a depth image representing a two-dimensional projection plane of depth data of the three-dimensional object; interpolating a colour value for the determined centre of mass from colour values of points of the set of surface points which are nearest neighbours of the centre of mass; and using the interpolated colour value as the colour value of the pixel representing the given point in a texture image representing a two-dimensional projection plane of texture data of the three-dimensional object. obtaining volumetric video data containing information of one or more three-dimensional objects; mapping the one or more three-dimensional objects to a two-dimensional projection plane (T, D) with a pre-determined vertical and horizontal resolution; characterized in that the method comprises: examining a given point in the two-dimensional projection plane (T, D) to determine which points (p) of the three-dimensional object are mapped to the same given point to obtain a set of candidate points; determining which points of the set of candidate points belong to a same surface to obtain a set of surface points by comparing depth data of the points which are mapped to the same given point in the two-dimensional projection plane (T, D); determining a centre of mass for the surface on the basis of points of the set of surface points; mapping a depth value of the centre of mass as the depth value of the pixel representing the given point in a depth image representing a two-dimensional projection plane of depth data of the three-dimensional object; interpolating a colour value for the determined centre of mass from colour values of points of the set of surface points which are nearest neighbours of the centre of mass; and using the interpolated colour value as the colour value of the pixel representing the given point in a texture image representing a two-dimensional projection plane of texture data of the three-dimensional object. examining a given point in the two-dimensional projection plane (T, D) to determine which points (p) of the three-dimensional object are mapped to the same given point to obtain a set of candidate points; determining which points of the set of candidate points belong to a same surface to obtain a set of surface points by comparing depth data of the points which are mapped to the same given point in the two-dimensional projection plane (T, D); determining a centre of mass for the surface on the basis of points of the set of surface points; mapping a depth value of the centre of mass as the depth value of the pixel representing the given point in a depth image representing a two-dimensional projection plane of depth data of the three-dimensional object; interpolating a colour value for the determined centre of mass from colour values of points of the set of surface points which are nearest neighbours of the centre of mass; and using the interpolated colour value as the colour value of the pixel representing the given point in a texture image representing a two-dimensional projection plane of texture data of the three-dimensional object.