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 forPointCloudData offers control over the generation, manipulation, and retrieval of 3D point cloud data.Python
C++
Python
class
depthai.PointCloudData(depthai.Buffer)
variable
method
method
getHeight(self) -> int: intRetrieves 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: intRetrieves instance number
method
getMaxX(self) -> float: floatRetrieves maximal x coordinate in depth units (millimeter by default)
method
getMaxY(self) -> float: floatRetrieves maximal y coordinate in depth units (millimeter by default)
method
getMaxZ(self) -> float: floatRetrieves maximal z coordinate in depth units (millimeter by default)
method
getMinX(self) -> float: floatRetrieves minimal x coordinate in depth units (millimeter by default)
method
getMinY(self) -> float: floatRetrieves minimal y coordinate in depth units (millimeter by default)
method
getMinZ(self) -> float: floatRetrieves minimal z coordinate in depth units (millimeter by default)
method
method
getSequenceNum(self) -> int: intRetrieves sequence number
method
getTimestamp(self) -> datetime.timedelta: datetime.timedeltaRetrieves timestamp related to dai::Clock::now()
method
getTimestampDevice(self) -> datetime.timedelta: datetime.timedeltaRetrieves timestamp directly captured from device's monotonic clock, not synchronized to host time. Used mostly for debugging
method
getWidth(self) -> int: intRetrieves 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: boolRetrieves whether point cloud is sparse
method
setHeight(self, arg0: int) -> PointCloudData: PointCloudDataSpecifies frame height Parameter ``height``: frame height
method
setInstanceNum(self, arg0: int) -> PointCloudData: PointCloudDataInstance number relates to the origin of the frame (which camera) Parameter ``instance``: Instance number
method
setMaxX(self, arg0: float) -> PointCloudData: PointCloudDataSpecifies 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: PointCloudDataSpecifies 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: PointCloudDataSpecifies 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: PointCloudDataSpecifies 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: PointCloudDataSpecifies 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: PointCloudDataSpecifies 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: PointCloudDataSpecifies sequence number Parameter ``seq``: Sequence number
method
method
setTimestamp(self, arg0: datetime.timedelta) -> PointCloudData: PointCloudDataRetrieves image timestamp related to dai::Clock::now()
method
setTimestampDevice(self, arg0: datetime.timedelta) -> PointCloudData: PointCloudDataSets image timestamp related to dai::Clock::now()
method
setWidth(self, arg0: int) -> PointCloudData: PointCloudDataSpecifies frame width Parameter ``width``: frame width
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