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
int64_t sequenceNum
variable
Timestamp ts
variable
Timestamp tsDevice
variable
std::optional< 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 transformTo(const ImgTransformation & target)Returns a copy of this point cloud.Due to efficiency reasons, point cloud remapping is currently not implemented. Point clouds should be generated from already aligned source messages instead of being transformed after the fact. Use ImageAlign on the source inputs before creating the point cloud.
Parameters
- target: Target image transformation.
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, ts, tsDevice, 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
function
std::optional< ImgTransformation > getTransformation()Returns the current transformation if set, else std::nullopt.
function
void setTransformation(const ImgTransformation & transformation)Sets the current transformation.
struct
dai::PointCloudData::dependent_false
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