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  • Reference

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 node 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 point clouds).

Usage notes

  • Organized vs filtered — When setOrganized(true) is used on the PointCloud node, getWidth() / getHeight() match the source depth frame dimensions and include invalid points (z ≤ 0). When filtered (default), height is 1 and width equals the number of valid points.
  • Color data — When isColor() is true, use getPointsRGB() to retrieve both positions and RGBA colors. In Python this returns a tuple (points, colors) where points is np.ndarray (N, 3) float32 and colors is np.ndarray (N, 4) uint8.
  • Bounding box — getMinX/Y/Z() and getMaxX/Y/Z() return axis-aligned bounds in the configured length unit.

Reference

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

Python

class

dai::PointCloudData

#include PointCloudData.hpp
variable
ImgTransformation transformation
function
PointCloudData()
Construct PointCloudData message.
function
~PointCloudData()
function
std::vector< Point3f > getPoints()
function
std::vector< Point3fRGBA > getPointsRGB()
function
void setPoints(const std::vector< Point3f > & points)
function
void setPointsRGB(const std::vector< Point3fRGBA > & points)
function
unsigned int getInstanceNum()
Retrieves instance number
function
unsigned int getWidth()
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
function
unsigned int getHeight()
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
function
float getMinX()
Retrieves minimal x coordinate in depth units (millimeter by default)
function
float getMinY()
Retrieves minimal y coordinate in depth units (millimeter by default)
function
float getMinZ()
Retrieves minimal z coordinate in depth units (millimeter by default)
function
float getMaxX()
Retrieves maximal x coordinate in depth units (millimeter by default)
function
float getMaxY()
Retrieves maximal y coordinate in depth units (millimeter by default)
function
float getMaxZ()
Retrieves maximal z coordinate in depth units (millimeter by default)
function
bool isSparse()
Retrieves whether point cloud is sparse
function
bool isOrganized()
Retrieves whether point cloud is organized (height > 1) Organized point clouds have width x height structure from the original image Sparse point clouds have height == 1 and only contain valid points
function
bool isColor()
Retrieves whether point cloud is color
function
PointCloudData & setWidth(unsigned int width)
Specifies frame width
Parameters
  • width: frame width
function
PointCloudData & setHeight(unsigned int height)
Specifies frame height
Parameters
  • height: frame height
function
PointCloudData & setSize(unsigned int width, unsigned int height)
Specifies frame size
Parameters
  • height: frame height
  • width: frame width
function
PointCloudData & setSize(std::tuple< unsigned int, unsigned int > size)
Specifies frame size
Parameters
  • size: frame size
function
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)
function
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)
function
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)
function
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)
function
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)
function
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)
function
PointCloudData & setSparse(bool val)
Specifies whether point cloud is sparse
Parameters
  • val: whether point cloud is sparse
function
PointCloudData & setColor(bool val)
Specifies whether point cloud is color
Parameters
  • val: whether point cloud is color
function
PointCloudData & setInstanceNum(unsigned int instanceNum)
Specifies instance number
Parameters
  • instanceNum: instance number
function
const ImgTransformation & getTransformation()
Retrieves image transformation data
function
PointCloudData & setTransformation(const ImgTransformation & transformation)
Specifies image transformation data
Parameters
  • transformation: transformation data
function
PointCloudData & updateBoundingBox()
Recomputes the bounding box (min/max X, Y, Z) from the current point data. All stored points are included regardless of their z value. If the cloud is empty, all bounds are set to 0.
inline function
void getPclData()
inline function
void setPclData(T...)
function
void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)
inline function
DatatypeEnum getDatatype()
function
DEPTHAI_SERIALIZE(PointCloudData, width, height, minx, miny, minz, maxx, maxy, maxz, instanceNum, color, transformation, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum)
function
int64_t getSequenceNum()
Retrieves image sequence number
function
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestamp()
Retrieves timestamp related to dai::Clock::now()
function
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestampDevice()
Retrieves timestamp directly captured from device's monotonic clock, not synchronized to host time. Used mostly for debugging
struct

dai::PointCloudData::dependent_false

C++

class

dai::PointCloudData

#include PointCloudData.hpp
variable
ImgTransformation transformation
function
PointCloudData()
Construct PointCloudData message.
function
~PointCloudData()
function
std::vector< Point3f > getPoints()
function
std::vector< Point3fRGBA > getPointsRGB()
function
void setPoints(const std::vector< Point3f > & points)
function
void setPointsRGB(const std::vector< Point3fRGBA > & points)
function
unsigned int getInstanceNum()
Retrieves instance number
function
unsigned int getWidth()
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
function
unsigned int getHeight()
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
function
float getMinX()
Retrieves minimal x coordinate in depth units (millimeter by default)
function
float getMinY()
Retrieves minimal y coordinate in depth units (millimeter by default)
function
float getMinZ()
Retrieves minimal z coordinate in depth units (millimeter by default)
function
float getMaxX()
Retrieves maximal x coordinate in depth units (millimeter by default)
function
float getMaxY()
Retrieves maximal y coordinate in depth units (millimeter by default)
function
float getMaxZ()
Retrieves maximal z coordinate in depth units (millimeter by default)
function
bool isSparse()
Retrieves whether point cloud is sparse
function
bool isOrganized()
Retrieves whether point cloud is organized (height > 1) Organized point clouds have width x height structure from the original image Sparse point clouds have height == 1 and only contain valid points
function
bool isColor()
Retrieves whether point cloud is color
function
PointCloudData & setWidth(unsigned int width)
Specifies frame width
Parameters
  • width: frame width
function
PointCloudData & setHeight(unsigned int height)
Specifies frame height
Parameters
  • height: frame height
function
PointCloudData & setSize(unsigned int width, unsigned int height)
Specifies frame size
Parameters
  • height: frame height
  • width: frame width
function
PointCloudData & setSize(std::tuple< unsigned int, unsigned int > size)
Specifies frame size
Parameters
  • size: frame size
function
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)
function
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)
function
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)
function
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)
function
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)
function
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)
function
PointCloudData & setSparse(bool val)
Specifies whether point cloud is sparse
Parameters
  • val: whether point cloud is sparse
function
PointCloudData & setColor(bool val)
Specifies whether point cloud is color
Parameters
  • val: whether point cloud is color
function
PointCloudData & setInstanceNum(unsigned int instanceNum)
Specifies instance number
Parameters
  • instanceNum: instance number
function
const ImgTransformation & getTransformation()
Retrieves image transformation data
function
PointCloudData & setTransformation(const ImgTransformation & transformation)
Specifies image transformation data
Parameters
  • transformation: transformation data
function
PointCloudData & updateBoundingBox()
Recomputes the bounding box (min/max X, Y, Z) from the current point data. All stored points are included regardless of their z value. If the cloud is empty, all bounds are set to 0.
inline function
void getPclData()
inline function
void setPclData(T...)
function
void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)
inline function
DatatypeEnum getDatatype()
function
DEPTHAI_SERIALIZE(PointCloudData, width, height, minx, miny, minz, maxx, maxy, maxz, instanceNum, color, transformation, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum)
function
int64_t getSequenceNum()
Retrieves image sequence number
function
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestamp()
Retrieves timestamp related to dai::Clock::now()
function
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestampDevice()
Retrieves timestamp directly captured from device's monotonic clock, not synchronized to host time. Used mostly for debugging
struct

dai::PointCloudData::dependent_false

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