PointCloudData
PointCloudData
PointCloudData 封装了 3D 空间信息，代表了 3D 空间中的一组点。点云中的每个点都有自己的位置（X、Y、Z 坐标）。PointCloudData 用于表示 PointCloud 节点的输出，并可用于执行各种空间分析和重建任务。Setter 方法仅用于为 PointCloudData 消息提供元数据（将用于记录和重放点云）。使用说明
- 已组织 vs 已过滤 — 当在 PointCloud 节点上使用
setOrganized(true)时，getWidth()/getHeight()与源深度帧的尺寸匹配，并包含无效点（z ≤ 0）。当已过滤（默认）时，height为1，width等于有效点的数量。 - 颜色数据 — 当
isColor()为true时，使用getPointsRGB()来检索位置和 RGBA 颜色。在 Python 中，这将返回一个元组(points, colors)，其中points是np.ndarray (N, 3) float32，colors是np.ndarray (N, 4) uint8。 - 边界框 —
getMinX/Y/Z()和getMaxX/Y/Z()返回以配置的长度单位表示的轴对齐边界。
参考
PointCloudData 的详细 API 提供了对 3D 点云数据的生成、操作和检索的控制。Python
class
dai::PointCloudData
variable
ImgTransformation transformation
function
PointCloudData()function
~PointCloudData()function
std::vector< Point3f > getPoints()function
std::vector< Point3fRGBA > getPointsRGB()function
void setPoints(const std::vector< Point3f > & points)function
void setPointsRGB(const std::vector< Point3fRGBA > & points)function
unsigned int getInstanceNum()Retrieves instance number
function
unsigned int getWidth()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
function
unsigned int getHeight()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
function
float getMinX()Retrieves minimal x coordinate in depth units (millimeter by default)
function
float getMinY()Retrieves minimal y coordinate in depth units (millimeter by default)
function
float getMinZ()Retrieves minimal z coordinate in depth units (millimeter by default)
function
float getMaxX()Retrieves maximal x coordinate in depth units (millimeter by default)
function
float getMaxY()Retrieves maximal y coordinate in depth units (millimeter by default)
function
float getMaxZ()Retrieves maximal z coordinate in depth units (millimeter by default)
function
bool isSparse()Retrieves whether point cloud is sparse
function
bool isOrganized()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
function
bool isColor()Retrieves whether point cloud is color
function
PointCloudData & setWidth(unsigned int width)Specifies frame width
Parameters
- width: frame width
function
PointCloudData & setHeight(unsigned int height)Specifies frame height
Parameters
- height: frame height
function
PointCloudData & setSize(unsigned int width, unsigned int height)Specifies frame size
Parameters
- height: frame height
- width: frame width
function
PointCloudData & setSize(std::tuple< unsigned int, unsigned int > size)Specifies frame size
Parameters
- size: frame size
function
PointCloudData & setMinX(float val)Specifies minimal x coordinate in depth units (millimeter by default)
Parameters
- val: minimal x coordinate in depth units (millimeter by default)
function
PointCloudData & setMinY(float val)Specifies minimal y coordinate in depth units (millimeter by default)
Parameters
- val: minimal y coordinate in depth units (millimeter by default)
function
PointCloudData & setMinZ(float val)Specifies minimal z coordinate in depth units (millimeter by default)
Parameters
- val: minimal z coordinate in depth units (millimeter by default)
function
PointCloudData & setMaxX(float val)Specifies maximal x coordinate in depth units (millimeter by default)
Parameters
- val: maximal x coordinate in depth units (millimeter by default)
function
PointCloudData & setMaxY(float val)Specifies maximal y coordinate in depth units (millimeter by default)
Parameters
- val: maximal y coordinate in depth units (millimeter by default)
function
PointCloudData & setMaxZ(float val)Specifies maximal z coordinate in depth units (millimeter by default)
Parameters
- val: maximal z coordinate in depth units (millimeter by default)
function
PointCloudData & setSparse(bool val)Specifies whether point cloud is sparse
Parameters
- val: whether point cloud is sparse
function
PointCloudData & setColor(bool val)Specifies whether point cloud is color
Parameters
- val: whether point cloud is color
function
PointCloudData & setInstanceNum(unsigned int instanceNum)Specifies instance number
Parameters
- instanceNum: instance number
function
const ImgTransformation & getTransformation()Retrieves image transformation data
function
PointCloudData & setTransformation(const ImgTransformation & transformation)Specifies image transformation data
Parameters
- transformation: transformation data
function
PointCloudData & updateBoundingBox()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.
inline function
void getPclData()inline function
void setPclData(T...)function
void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)inline function
DatatypeEnum getDatatype()function
DEPTHAI_SERIALIZE(PointCloudData, width, height, minx, miny, minz, maxx, maxy, maxz, instanceNum, color, transformation, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum)function
int64_t getSequenceNum()Retrieves image sequence number
function
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestamp()Retrieves timestamp related to dai::Clock::now()
function
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > getTimestampDevice()Retrieves timestamp directly captured from device's monotonic clock, not synchronized to host time. Used mostly for debugging
struct
dai::PointCloudData::dependent_false
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