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  • PointCloud - TODO port to v3
  • How to place it
  • Inputs and Outputs
  • Example visualization with Open3D
  • Examples using PointCloud
  • Reference

PointCloud - TODO port to v3

The PointCloud node enables on-device point cloud generation from depth map.

How to place it

Python
C++

Python

Python
1pipeline = dai.Pipeline()
2pointCloud = pipeline.create(dai.node.PointCloud)

Inputs and Outputs

React Flow

Example visualization with Open3D

Python
C++

Python

Python
1import open3d as o3d
2import numpy as np
3import depthai as dai
4
5pcd = o3d.geometry.PointCloud()
6vis = o3d.visualization.VisualizerWithKeyCallback()
7vis.create_window()
8
9with dai.Device(pipeline) as device:
10    coordinateFrame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1000, origin=[0,0,0])
11    vis.add_geometry(coordinateFrame)
12
13    while device.isPipelineRunning():
14        inMessage = q.get()
15        inColor = inMessage["rgb"]
16        inPointCloud = inMessage["pcl"]
17        cvColorFrame = inColor.getCvFrame()
18
19        if inPointCloud:
20            points = inPointCloud.getPoints().astype(np.float64)
21            pcd.points = o3d.utility.Vector3dVector(points)
22            colors = (cvRGBFrame.reshape(-1, 3) / 255.0).astype(np.float64)
23            pcd.colors = o3d.utility.Vector3dVector(colors)
24            vis.update_geometry(pcd)
25
26        vis.poll_events()
27        vis.update_renderer()
28
29    vis.destroy_window()

Examples using PointCloud

Reference

Python
C++

Python

class

dai::node::PointCloud

#include PointCloud.hpp
variable
std::shared_ptr< PointCloudConfig > initialConfig
Initial config to use when computing the point cloud.
variable
Input inputConfig
Input PointCloudConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.
variable
Input inputDepth
Input message with depth data used to create the point cloud. Default queue is non-blocking with size 4.
variable
Output outputPointCloud
Outputs PointCloudData message
variable
Output passthroughDepth
Passthrough depth from which the point cloud was calculated. Suitable for when input queue is set to non-blocking behavior.
function
void setNumFramesPool(int numFramesPool)
Specify number of frames in pool.
Parameters
  • numFramesPool: How many frames should the pool have

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