RawPointCloudData.hpp

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#pragma once
 
#include <cstdint>
 
#include "depthai-shared/datatype/DatatypeEnum.hpp"
#include "depthai-shared/datatype/RawBuffer.hpp"
 
namespace dai {
 
struct RawPointCloudData : public RawBuffer {
    unsigned int width;        // width in pixels
    unsigned int height;       // height in pixels
    uint32_t instanceNum = 0;  // Which source created this frame (color, mono, ...)
    float minx, miny, minz;
    float maxx, maxy, maxz;
    bool sparse = false;
 
   public:
    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
        metadata = utility::serialize(*this);
        datatype = DatatypeEnum::PointCloudData;
    };
 
    DatatypeEnum getType() const override {
        return DatatypeEnum::PointCloudData;
    }
 
    DEPTHAI_SERIALIZE(
        RawPointCloudData, width, height, minx, miny, minz, maxx, maxy, maxz, sparse, instanceNum, RawBuffer::ts, RawBuffer::tsDevice, RawBuffer::sequenceNum);
};
 
}  // namespace dai