PointCloudConfig

View as Markdown

1import depthai as dai
2
3# 创建管道
4pipeline = dai.Pipeline()
5
6# 创建 PointCloud 节点
7pointCloud = pipeline.create(dai.node.PointCloud)
8
9pointCloud.initialConfig.setSparse(True) # 启用稀疏点云生成
10
11# 定义变换矩阵
12transformationMatrix = [
13    [1.0, 0.0, 0.0, 0.0],
14    [0.0, 1.0, 0.0, 0.0],
15    [0.0, 0.0, 1.0, 0.0],
16    [0.0, 0.0, 0.0, 1.0]
17]
18pointCloud.initialConfig.setTransformationMatrix(transformationMatrix) # 应用变换矩阵
19
20# 进一步的管道设置和执行...

1#include "depthai/depthai.hpp"
2
3int main() {
4    // 创建管道
5    dai::Pipeline pipeline;
6
7    // 创建 PointCloud 节点
8    auto pointCloud = pipeline.create<dai::node::PointCloud>();
9
10    pointCloud->initialConfig.setSparse(true); // 启用稀疏点云生成
11
12    // 定义变换矩阵
13    std::vector<std::vector<float>> transformationMatrix = {
14        {1.0, 0.0, 0.0, 0.0},
15        {0.0, 1.0, 0.0, 0.0},
16        {0.0, 0.0, 1.0, 0.0},
17        {0.0, 0.0, 0.0, 1.0}
18    };
19    pointCloud->initialConfig.setTransformationMatrix(transformationMatrix); // 应用变换矩阵
20
21    // 进一步的管道设置和执行...
22
23    return 0;
24}