HomeCloudSoftwareHardware
DepthAI Components
DepthAI Tutorials
DepthAI Perception
Tools
ROS
Neural Networks
DepthAI API References

ON THIS PAGE

  • PointCloudData
  • 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 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 point clouds).

Reference

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

depthai.PointCloudData(depthai.Buffer)

variable
method
__init__(self)
method
getHeight(self) -> int: 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
method
getInstanceNum(self) -> int: int
Retrieves instance number
method
getMaxX(self) -> float: float
Retrieves maximal x coordinate in depth units (millimeter by default)
method
getMaxY(self) -> float: float
Retrieves maximal y coordinate in depth units (millimeter by default)
method
getMaxZ(self) -> float: float
Retrieves maximal z coordinate in depth units (millimeter by default)
method
getMinX(self) -> float: float
Retrieves minimal x coordinate in depth units (millimeter by default)
method
getMinY(self) -> float: float
Retrieves minimal y coordinate in depth units (millimeter by default)
method
getMinZ(self) -> float: float
Retrieves minimal z coordinate in depth units (millimeter by default)
method
method
getSequenceNum(self) -> int: int
Retrieves sequence number
method
getTimestamp(self) -> datetime.timedelta: datetime.timedelta
Retrieves timestamp related to dai::Clock::now()
method
getTimestampDevice(self) -> datetime.timedelta: datetime.timedelta
Retrieves timestamp directly captured from device's monotonic clock, not
synchronized to host time. Used mostly for debugging
method
getWidth(self) -> int: 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
method
isSparse(self) -> bool: bool
Retrieves whether point cloud is sparse
method
setHeight(self, arg0: int) -> PointCloudData: PointCloudData
Specifies frame height

Parameter ``height``:
    frame height
method
setInstanceNum(self, arg0: int) -> PointCloudData: PointCloudData
Instance number relates to the origin of the frame (which camera)

Parameter ``instance``:
    Instance number
method
setMaxX(self, arg0: float) -> PointCloudData: PointCloudData
Specifies maximal x coordinate in depth units (millimeter by default)

Parameter ``val``:
    maximal x coordinate in depth units (millimeter by default)
method
setMaxY(self, arg0: float) -> PointCloudData: PointCloudData
Specifies maximal y coordinate in depth units (millimeter by default)

Parameter ``val``:
    maximal y coordinate in depth units (millimeter by default)
method
setMaxZ(self, arg0: float) -> PointCloudData: PointCloudData
Specifies maximal z coordinate in depth units (millimeter by default)

Parameter ``val``:
    maximal z coordinate in depth units (millimeter by default)
method
setMinX(self, arg0: float) -> PointCloudData: PointCloudData
Specifies minimal x coordinate in depth units (millimeter by default)

Parameter ``val``:
    minimal x coordinate in depth units (millimeter by default)
method
setMinY(self, arg0: float) -> PointCloudData: PointCloudData
Specifies minimal y coordinate in depth units (millimeter by default)

Parameter ``val``:
    minimal y coordinate in depth units (millimeter by default)
method
setMinZ(self, arg0: float) -> PointCloudData: PointCloudData
Specifies minimal z coordinate in depth units (millimeter by default)

Parameter ``val``:
    minimal z coordinate in depth units (millimeter by default)
method
setSequenceNum(self, arg0: int) -> PointCloudData: PointCloudData
Specifies sequence number

Parameter ``seq``:
    Sequence number
method
method
setTimestamp(self, arg0: datetime.timedelta) -> PointCloudData: PointCloudData
Retrieves image timestamp related to dai::Clock::now()
method
method
setWidth(self, arg0: int) -> PointCloudData: PointCloudData
Specifies frame width

Parameter ``width``:
    frame width

Need assistance?

Head over to Discussion Forum for technical support or any other questions you might have.