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  • Reference

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 方法仅用于向 PointCloudData 消息提供元数据（将用于录制和回放点云）。

Reference

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

depthai.PointCloudData(depthai.Buffer)

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: typing.SupportsInt) -> PointCloudData: PointCloudData
Specifies frame height  Parameter ``height``:     frame height
method
setInstanceNum(self, arg0: typing.SupportsInt) -> PointCloudData: PointCloudData
Instance number relates to the origin of the frame (which camera)  Parameter ``instance``:     Instance number
method
setMaxX(self, arg0: typing.SupportsFloat) -> 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: typing.SupportsFloat) -> 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: typing.SupportsFloat) -> 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: typing.SupportsFloat) -> 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: typing.SupportsFloat) -> 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: typing.SupportsFloat) -> 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: typing.SupportsInt) -> 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: typing.SupportsInt) -> PointCloudData: PointCloudData
Specifies frame width  Parameter ``width``:     frame width
property
method

C++

class

dai::PointCloudData

#include PointCloudData.hpp
function
PointCloudData()
Construct PointCloudData message.
explicit function
PointCloudData(std::shared_ptr< RawPointCloudData > ptr)
function
~PointCloudData()
function
std::vector< Point3f > & getPoints()
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
PointCloudData & setTimestamp(std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > timestamp)
Retrieves image timestamp related to dai::Clock::now()
function
PointCloudData & setTimestampDevice(std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > timestamp)
Sets image timestamp related to dai::Clock::now()
function
PointCloudData & setInstanceNum(unsigned int instance)
Instance number relates to the origin of the frame (which camera)
Parameters
  • instance: Instance number
function
PointCloudData & setSequenceNum(int64_t seq)
Specifies sequence number
Parameters
  • seq: Sequence number
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)
inline function
void getPclData()
function
int64_t getSequenceNum()
Retrieves 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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