# 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

### dai::PointCloudData

Kind: class

PointCloudData message. Carries point cloud data.

#### dai::PointCloudData::dependent_false

Kind: struct

#### ImgTransformation transformation

Kind: variable

#### PointCloudData()

Kind: function

Construct PointCloudData message.

#### ~PointCloudData()

Kind: function

#### std::vector< Point3f > getPoints()

Kind: function

#### std::vector< Point3fRGBA > getPointsRGB()

Kind: function

#### void setPoints(const std::vector< Point3f > & points)

Kind: function

#### void setPointsRGB(const std::vector< Point3fRGBA > & points)

Kind: function

#### unsigned int getInstanceNum()

Kind: function

Retrieves instance number

#### unsigned int getWidth()

Kind: function

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()

Kind: function

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()

Kind: function

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

#### float getMinY()

Kind: function

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

#### float getMinZ()

Kind: function

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

#### float getMaxX()

Kind: function

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

#### float getMaxY()

Kind: function

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

#### float getMaxZ()

Kind: function

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

#### bool isSparse()

Kind: function

Retrieves whether point cloud is sparse

#### bool isOrganized()

Kind: function

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

#### bool isColor()

Kind: function

Retrieves whether point cloud is color

#### PointCloudData & setWidth(unsigned int width)

Kind: function

Specifies frame width parameters: width: frame width

#### PointCloudData & setHeight(unsigned int height)

Kind: function

Specifies frame height parameters: height: frame height

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

Kind: function

Specifies frame size parameters: height: frame height; width: frame width

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

Kind: function

Specifies frame size parameters: size: frame size

#### PointCloudData & setMinX(float val)

Kind: function

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)

Kind: function

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)

Kind: function

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)

Kind: function

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)

Kind: function

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)

Kind: function

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

#### PointCloudData & setSparse(bool val)

Kind: function

Specifies whether point cloud is sparse parameters: val: whether point cloud is sparse

#### PointCloudData & setColor(bool val)

Kind: function

Specifies whether point cloud is color parameters: val: whether point cloud is color

#### PointCloudData & setInstanceNum(unsigned int instanceNum)

Kind: function

Specifies instance number parameters: instanceNum: instance number

#### const ImgTransformation & getTransformation()

Kind: function

Retrieves image transformation data

#### PointCloudData & setTransformation(const ImgTransformation & transformation)

Kind: function

Specifies image transformation data parameters: transformation: transformation data

#### PointCloudData & updateBoundingBox()

Kind: function

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.

#### void getPclData()

Kind: function

#### void setPclData(T...)

Kind: function

#### void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)

Kind: function

#### DatatypeEnum getDatatype()

Kind: function

Get the datatype of this specific message.

return: DatatypeEnum

#### DEPTHAI_SERIALIZE(PointCloudData, width, height, minx, miny, minz, maxx, maxy, maxz, instanceNum, color, transformation,
Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum)

Kind: function

#### int64_t getSequenceNum()

Kind: function

Retrieves image sequence number

#### std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestamp()

Kind: function

Retrieves timestamp related to dai::Clock::now()

#### std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestampDevice()

Kind: function

Retrieves timestamp directly captured from device's monotonic clock, not synchronized to host time. Used mostly for debugging

#### C++

### dai::PointCloudData

Kind: class

PointCloudData message. Carries point cloud data.

#### dai::PointCloudData::dependent_false

Kind: struct

#### ImgTransformation transformation

Kind: variable

#### PointCloudData()

Kind: function

Construct PointCloudData message.

#### ~PointCloudData()

Kind: function

#### std::vector< Point3f > getPoints()

Kind: function

#### std::vector< Point3fRGBA > getPointsRGB()

Kind: function

#### void setPoints(const std::vector< Point3f > & points)

Kind: function

#### void setPointsRGB(const std::vector< Point3fRGBA > & points)

Kind: function

#### unsigned int getInstanceNum()

Kind: function

Retrieves instance number

#### unsigned int getWidth()

Kind: function

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()

Kind: function

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()

Kind: function

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

#### float getMinY()

Kind: function

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

#### float getMinZ()

Kind: function

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

#### float getMaxX()

Kind: function

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

#### float getMaxY()

Kind: function

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

#### float getMaxZ()

Kind: function

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

#### bool isSparse()

Kind: function

Retrieves whether point cloud is sparse

#### bool isOrganized()

Kind: function

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

#### bool isColor()

Kind: function

Retrieves whether point cloud is color

#### PointCloudData & setWidth(unsigned int width)

Kind: function

Specifies frame width parameters: width: frame width

#### PointCloudData & setHeight(unsigned int height)

Kind: function

Specifies frame height parameters: height: frame height

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

Kind: function

Specifies frame size parameters: height: frame height; width: frame width

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

Kind: function

Specifies frame size parameters: size: frame size

#### PointCloudData & setMinX(float val)

Kind: function

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)

Kind: function

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)

Kind: function

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)

Kind: function

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)

Kind: function

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)

Kind: function

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

#### PointCloudData & setSparse(bool val)

Kind: function

Specifies whether point cloud is sparse parameters: val: whether point cloud is sparse

#### PointCloudData & setColor(bool val)

Kind: function

Specifies whether point cloud is color parameters: val: whether point cloud is color

#### PointCloudData & setInstanceNum(unsigned int instanceNum)

Kind: function

Specifies instance number parameters: instanceNum: instance number

#### const ImgTransformation & getTransformation()

Kind: function

Retrieves image transformation data

#### PointCloudData & setTransformation(const ImgTransformation & transformation)

Kind: function

Specifies image transformation data parameters: transformation: transformation data

#### PointCloudData & updateBoundingBox()

Kind: function

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.

#### void getPclData()

Kind: function

#### void setPclData(T...)

Kind: function

#### void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)

Kind: function

#### DatatypeEnum getDatatype()

Kind: function

Get the datatype of this specific message.

return: DatatypeEnum

#### DEPTHAI_SERIALIZE(PointCloudData, width, height, minx, miny, minz, maxx, maxy, maxz, instanceNum, color, transformation,
Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum)

Kind: function

#### int64_t getSequenceNum()

Kind: function

Retrieves image sequence number

#### std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestamp()

Kind: function

Retrieves timestamp related to dai::Clock::now()

#### std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestampDevice()

Kind: function

Retrieves timestamp directly captured from device's monotonic clock, not synchronized to host time. Used mostly for debugging

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