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 pointclouds).

Reference¶

The detailed API for PointCloudData offers control over the generation, manipulation, and retrieval of 3D point cloud data.

class depthai.PointCloudData

getData(self: object) → numpy.ndarray[numpy.uint8]

getHeight(self: depthai.PointCloudData) → int

getInstanceNum(self: depthai.PointCloudData) → int

getMaxX(self: depthai.PointCloudData) → float

getMaxY(self: depthai.PointCloudData) → float

getMaxZ(self: depthai.PointCloudData) → float

getMinX(self: depthai.PointCloudData) → float

getMinY(self: depthai.PointCloudData) → float

getMinZ(self: depthai.PointCloudData) → float

getPoints(self: object) → numpy.ndarray[numpy.float32]

getRaw(self: depthai.ADatatype) → depthai.RawBuffer

getSequenceNum(self: depthai.PointCloudData) → int

getTimestamp(self: depthai.PointCloudData) → datetime.timedelta

getTimestampDevice(self: depthai.PointCloudData) → datetime.timedelta

getWidth(self: depthai.PointCloudData) → int

isSparse(self: depthai.PointCloudData) → bool

setData(*args, **kwargs)

Overloaded function.

setData(self: depthai.Buffer, arg0: list[int]) -> None
setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None

setHeight(self: depthai.PointCloudData, arg0: int) → depthai.PointCloudData

setInstanceNum(self: depthai.PointCloudData, arg0: int) → depthai.PointCloudData

setMaxX(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

setMaxY(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

setMaxZ(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

setMinX(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

setMinY(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

setMinZ(self: depthai.PointCloudData, arg0: float) → depthai.PointCloudData

setSequenceNum(self: depthai.PointCloudData, arg0: int) → depthai.PointCloudData

setSize(*args, **kwargs)

Overloaded function.

setSize(self: depthai.PointCloudData, width: int, height: int) -> depthai.PointCloudData
setSize(self: depthai.PointCloudData, size: tuple[int, int]) -> depthai.PointCloudData

setTimestamp(self: depthai.PointCloudData, arg0: datetime.timedelta) → depthai.PointCloudData

setTimestampDevice(self: depthai.PointCloudData, arg0: datetime.timedelta) → depthai.PointCloudData

setWidth(self: depthai.PointCloudData, arg0: int) → depthai.PointCloudData

class dai::PointCloudData : public dai::Buffer ¶

PointCloudData message. Carries point cloud data.

Public Functions

PointCloudData()¶: Construct PointCloudData message.

PointCloudData(std::shared_ptr<RawPointCloudData> ptr)¶

~PointCloudData() = default¶

std::vector<Point3f> &getPoints()¶

unsigned int getInstanceNum() const¶: Retrieves instance number

unsigned int getWidth() const¶: 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

unsigned int getHeight() const¶: 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

float getMinX() const¶: Retrieves minimal x coordinate in depth units (millimeter by default)

float getMinY() const¶: Retrieves minimal y coordinate in depth units (millimeter by default)

float getMinZ() const¶: Retrieves minimal z coordinate in depth units (millimeter by default)

float getMaxX() const¶: Retrieves maximal x coordinate in depth units (millimeter by default)

float getMaxY() const¶: Retrieves maximal y coordinate in depth units (millimeter by default)

float getMaxZ() const¶: Retrieves maximal z coordinate in depth units (millimeter by default)

bool isSparse() const¶: Retrieves whether point cloud is sparse

PointCloudData &setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)¶: Retrieves image timestamp related to dai::Clock::now()

PointCloudData &setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)¶: Sets image timestamp related to dai::Clock::now()

PointCloudData &setInstanceNum(unsigned int instance)¶

Instance number relates to the origin of the frame (which camera)

Parameters

instance: Instance number

PointCloudData &setSequenceNum(int64_t seq)¶

Specifies sequence number

Parameters

seq: Sequence number

PointCloudData &setWidth(unsigned int width)¶

Specifies frame width

Parameters

width: frame width

PointCloudData &setHeight(unsigned int height)¶

Specifies frame height

Parameters

height: frame height

PointCloudData &setSize(unsigned int width, unsigned int height)¶

Specifies frame size

Parameters

height: frame height
width: frame width

PointCloudData &setSize(std::tuple<unsigned int, unsigned int> size)¶

Specifies frame size

Parameters

size: frame size

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)

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)

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)

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)

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)

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)

template<typename ...T> void getPclData() const¶

int64_t getSequenceNum() const¶: Retrieves sequence number

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp() const¶: Retrieves timestamp related to dai::Clock::now()

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice() const¶: Retrieves timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

Private Functions

std::shared_ptr<RawBuffer> serialize() const override¶

Private Members

RawPointCloudData &pcl¶

std::vector<Point3f> points¶

template<typename ...T> struct dependent_false¶

Public Static Attributes

constexpr bool value = false¶

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