A decoding device, an encoding device and a method for point cloud decoding is disclosed. The method includes decoding the compressed bitstream into a first set and second set of 2-D frames. The first set of 2-D frames include first set of regular patches representing geometry of a 3-D point cloud and the second set of 2-D frames include first set of regular patches representing texture of the 3-D point cloud. The method includes identifying in the first set of 2-D frames, a missed points patch representing geometry of points of the 3-D point cloud not included in the regular patches, and in the second set of 2-D frames a missed points patch that represents texture of the points of the 3-D point cloud not included in the regular patches. The method also includes generating, using the set of 2-D frames, the 3-D point cloud using the missed points patches.