PointCloudData¶

PointCloudData encapsulates 3D spatial information, representing a collection of points in a 3D space. Each point within the point cloud has its own position (X, Y, Z coordinates). PointCloudData is used to represent the output of PointCloud nodes, and can be used to perform a variety of spatial analysis and reconstruction tasks.

Setter methods are only used to provide metadata to the PointCloudData message (will be used for recording and replaying pointclouds).

Reference¶

The detailed API for PointCloudData offers control over the generation, manipulation, and retrieval of 3D point cloud data.

class depthai.PointCloudData

PointCloudData message. Carries point cloud data.

getData(self: object) → numpy.ndarray[numpy.uint8]

Get non-owning reference to internal buffer

Returns: Reference to internal buffer

getHeight(self: depthai.PointCloudData) → int: Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud

getInstanceNum(self: depthai.PointCloudData) → int: Retrieves instance number

getMaxX(self: depthai.PointCloudData) → float: Retrieves maximal x coordinate in depth units (millimeter by default)

getMaxY(self: depthai.PointCloudData) → float: Retrieves maximal y coordinate in depth units (millimeter by default)

getMaxZ(self: depthai.PointCloudData) → float: Retrieves maximal z coordinate in depth units (millimeter by default)

getMinX(self: depthai.PointCloudData) → float: Retrieves minimal x coordinate in depth units (millimeter by default)

getMinY(self: depthai.PointCloudData) → float: Retrieves minimal y coordinate in depth units (millimeter by default)

getMinZ(self: depthai.PointCloudData) → float: Retrieves minimal z coordinate in depth units (millimeter by default)

getPoints(self: object) → numpy.ndarray[numpy.float32]

getRaw(self: depthai.ADatatype) → depthai.RawBuffer

getSequenceNum(self: depthai.PointCloudData) → int: Retrieves sequence number

getTimestamp(self: depthai.PointCloudData) → datetime.timedelta: Retrieves timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.PointCloudData) → datetime.timedelta: Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

getWidth(self: depthai.PointCloudData) → int: Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud

isSparse(self: depthai.PointCloudData) → bool: Retrieves whether point cloud is sparse

setData(*args, **kwargs)

Overloaded function.

setData(self: depthai.Buffer, arg0: List[int]) -> None

Parameter data:: Copies data to internal buffer

setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None

Parameter data:: Copies data to internal buffer

setHeight(self: depthai.PointCloudData, arg0: int) → depthai.PointCloudData

Specifies frame height

Parameter height:: frame height

setInstanceNum(self: depthai.PointCloudData, arg0: int) → depthai.PointCloudData

Instance number relates to the origin of the frame (which camera)

Parameter instance:: Instance number

setMaxX(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

Specifies maximal x coordinate in depth units (millimeter by default)

Parameter val:: maximal x coordinate in depth units (millimeter by default)

setMaxY(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

Specifies maximal y coordinate in depth units (millimeter by default)

Parameter val:: maximal y coordinate in depth units (millimeter by default)

setMaxZ(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

Specifies maximal z coordinate in depth units (millimeter by default)

Parameter val:: maximal z coordinate in depth units (millimeter by default)

setMinX(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

Specifies minimal x coordinate in depth units (millimeter by default)

Parameter val:: minimal x coordinate in depth units (millimeter by default)

setMinY(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

Specifies minimal y coordinate in depth units (millimeter by default)

Parameter val:: minimal y coordinate in depth units (millimeter by default)

setMinZ(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

Specifies minimal z coordinate in depth units (millimeter by default)

Parameter val:: minimal z coordinate in depth units (millimeter by default)

setSequenceNum(self: depthai.PointCloudData, arg0: int) → depthai.PointCloudData

Specifies sequence number

Parameter seq:: Sequence number

setSize(*args, **kwargs)

Overloaded function.

setSize(self: depthai.PointCloudData, width: int, height: int) -> depthai.PointCloudData

Specifies frame size

Parameter height:: frame height
Parameter width:: frame width

setSize(self: depthai.PointCloudData, size: Tuple[int, int]) -> depthai.PointCloudData

Specifies frame size

Parameter size:: frame size

setTimestamp(self: depthai.PointCloudData, arg0: datetime.timedelta) → depthai.PointCloudData: Retrieves image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.PointCloudData, arg0: datetime.timedelta) → depthai.PointCloudData: Sets image timestamp related to dai::Clock::now()

setWidth(self: depthai.PointCloudData, arg0: int) → depthai.PointCloudData

Specifies frame width

Parameter width:: frame width

class dai::PointCloudData : public dai::Buffer ¶

PointCloudData message. Carries point cloud data.

Public Functions

PointCloudData()¶: Construct PointCloudData message.

PointCloudData(std::shared_ptr<RawPointCloudData> ptr)¶

~PointCloudData() = default¶

std::vector<Point3f> &getPoints()¶

unsigned int getInstanceNum() const¶: Retrieves instance number

unsigned int getWidth() const¶: Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud

unsigned int getHeight() const¶: Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud

float getMinX() const¶: Retrieves minimal x coordinate in depth units (millimeter by default)

float getMinY() const¶: Retrieves minimal y coordinate in depth units (millimeter by default)

float getMinZ() const¶: Retrieves minimal z coordinate in depth units (millimeter by default)

float getMaxX() const¶: Retrieves maximal x coordinate in depth units (millimeter by default)

float getMaxY() const¶: Retrieves maximal y coordinate in depth units (millimeter by default)

float getMaxZ() const¶: Retrieves maximal z coordinate in depth units (millimeter by default)

bool isSparse() const¶: Retrieves whether point cloud is sparse

PointCloudData &setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)¶: Retrieves image timestamp related to dai::Clock::now()

PointCloudData &setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)¶: Sets image timestamp related to dai::Clock::now()

PointCloudData &setInstanceNum(unsigned int instance)¶

Instance number relates to the origin of the frame (which camera)

Parameters

instance: Instance number

PointCloudData &setSequenceNum(int64_t seq)¶

Specifies sequence number

Parameters

seq: Sequence number

PointCloudData &setWidth(unsigned int width)¶

Specifies frame width

Parameters

width: frame width

PointCloudData &setHeight(unsigned int height)¶

Specifies frame height

Parameters

height: frame height

PointCloudData &setSize(unsigned int width, unsigned int height)¶

Specifies frame size

Parameters

height: frame height
width: frame width

PointCloudData &setSize(std::tuple<unsigned int, unsigned int> size)¶

Specifies frame size

Parameters

size: frame size

PointCloudData &setMinX(float val)¶

Specifies minimal x coordinate in depth units (millimeter by default)

Parameters

val: minimal x coordinate in depth units (millimeter by default)

PointCloudData &setMinY(float val)¶

Specifies minimal y coordinate in depth units (millimeter by default)

Parameters

val: minimal y coordinate in depth units (millimeter by default)

PointCloudData &setMinZ(float val)¶

Specifies minimal z coordinate in depth units (millimeter by default)

Parameters

val: minimal z coordinate in depth units (millimeter by default)

PointCloudData &setMaxX(float val)¶

Specifies maximal x coordinate in depth units (millimeter by default)

Parameters

val: maximal x coordinate in depth units (millimeter by default)

PointCloudData &setMaxY(float val)¶

Specifies maximal y coordinate in depth units (millimeter by default)

Parameters

val: maximal y coordinate in depth units (millimeter by default)

PointCloudData &setMaxZ(float val)¶

Specifies maximal z coordinate in depth units (millimeter by default)

Parameters

val: maximal z coordinate in depth units (millimeter by default)

template<typename ...T> void getPclData() const¶

int64_t getSequenceNum() const¶: Retrieves sequence number

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp() const¶: Retrieves timestamp related to dai::Clock::now()

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice() const¶: Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

Private Functions

std::shared_ptr<RawBuffer> serialize() const override¶

Private Members

RawPointCloudData &pcl¶

std::vector<Point3f> points¶

template<typename ...T> struct dependent_false¶

Public Static Attributes

constexpr bool value = false¶

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