# PointCloud

Minimal example that creates a colorized point cloud from stereo depth and an aligned RGB camera using the
[PointCloud](https://docs.luxonis.com/software-v3/depthai/depthai-components/host_nodes/pointcloud.md) node. Outputs point count,
dimensions, and depth range to the console.

This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md).

## Source code

#### Python

```python
#!/usr/bin/env python3
"""Minimal PointCloud example: colorized point cloud from stereo depth + RGB."""

import depthai as dai

pipeline = dai.Pipeline()

# Cameras
left = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
right = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
color = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)

# Stereo depth
stereo = pipeline.create(dai.node.StereoDepth)
left.requestFullResolutionOutput().link(stereo.left)
right.requestFullResolutionOutput().link(stereo.right)

# Color output aligned to depth
colorOut = color.requestOutput((640, 400), type=dai.ImgFrame.Type.RGB888i,
                               resizeMode=dai.ImgResizeMode.CROP, enableUndistortion=True)

# Point cloud
pc = pipeline.create(dai.node.PointCloud)
pc.initialConfig.setLengthUnit(dai.LengthUnit.METER)

# Align depth to color on RVC4
platform = pipeline.getDefaultDevice().getPlatform()
if platform == dai.Platform.RVC4:
    imageAlign = pipeline.create(dai.node.ImageAlign)
    stereo.depth.link(imageAlign.input)
    colorOut.link(imageAlign.inputAlignTo)
    imageAlign.outputAligned.link(pc.inputDepth)
else:
    colorOut.link(stereo.inputAlignTo)
    stereo.depth.link(pc.inputDepth)

colorOut.link(pc.inputColor)

q = pc.outputPointCloud.createOutputQueue(maxSize=4, blocking=False)

with pipeline:
    pipeline.start()
    while pipeline.isRunning():
        pcd = q.get()
        if pcd.isColor():
            xyz, rgba = pcd.getPointsRGB()
            numPoints = len(xyz)
        else:
            xyz = pcd.getPoints()
            numPoints = len(xyz)
        print(f"Points: {numPoints}, {pcd.getWidth()}x{pcd.getHeight()}, "
              f"color={pcd.isColor()}, Z=[{pcd.getMinZ():.2f}, {pcd.getMaxZ():.2f}]")
```

#### C++

```cpp
// Minimal PointCloud example: colorized point cloud from stereo depth + RGB.
#include <iostream>

#include "depthai/depthai.hpp"

int main() {
    dai::Pipeline pipeline;

    // Cameras
    auto left = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_B);
    auto right = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_C);
    auto color = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_A);

    // Stereo depth
    auto stereo = pipeline.create<dai::node::StereoDepth>();
    left->requestFullResolutionOutput()->link(stereo->left);
    right->requestFullResolutionOutput()->link(stereo->right);

    // Color output aligned to depth
    auto colorOut = color->requestOutput(std::make_pair(640, 400), dai::ImgFrame::Type::RGB888i, dai::ImgResizeMode::CROP, std::nullopt, true);

    // Point cloud
    auto pc = pipeline.create<dai::node::PointCloud>();
    pc->initialConfig->setLengthUnit(dai::LengthUnit::METER);

    // Align depth to color on RVC4, or color to depth on RVC2/3
    auto platform = pipeline.getDefaultDevice()->getPlatform();
    if(platform == dai::Platform::RVC4) {
        auto imageAlign = pipeline.create<dai::node::ImageAlign>();
        stereo->depth.link(imageAlign->input);
        colorOut->link(imageAlign->inputAlignTo);
        imageAlign->outputAligned.link(pc->inputDepth);
    } else {
        colorOut->link(stereo->inputAlignTo);
        stereo->depth.link(pc->inputDepth);
    }

    colorOut->link(pc->getColorInput());

    auto q = pc->outputPointCloud.createOutputQueue(4, false);

    pipeline.start();
    while(pipeline.isRunning()) {
        auto pcd = q->get<dai::PointCloudData>();
        if(pcd->isColor()) {
            auto points = pcd->getPointsRGB();
            std::cout << "Points: " << points.size();
        } else {
            auto points = pcd->getPoints();
            std::cout << "Points: " << points.size();
        }
        std::cout << ", " << pcd->getWidth() << "x" << pcd->getHeight() << ", color=" << (pcd->isColor() ? "yes" : "no") << ", Z=[" << pcd->getMinZ() << ", "
                  << pcd->getMaxZ() << "]" << std::endl;
    }
    pipeline.stop();
    return 0;
}
```

### Need assistance?

Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.