dai::PointCloudData Class Reference

#include <PointCloudData.hpp>

Inheritance diagram for dai::PointCloudData:

Classes
struct	dependent_false

Public Member Functions
unsigned int	getHeight () const
unsigned int	getInstanceNum () const
float	getMaxX () const
float	getMaxY () const
float	getMaxZ () const
float	getMinX () const
float	getMinY () const
float	getMinZ () const
template<typename... T>
void	getPclData () const
std::vector< Point3f > &	getPoints ()
int64_t	getSequenceNum () const
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration >	getTimestamp () const
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration >	getTimestampDevice () const
unsigned int	getWidth () const
bool	isSparse () const
	PointCloudData ()
	PointCloudData (std::shared_ptr< RawPointCloudData > ptr)
PointCloudData &	setHeight (unsigned int height)
PointCloudData &	setInstanceNum (unsigned int instance)
PointCloudData &	setMaxX (float val)
PointCloudData &	setMaxY (float val)
PointCloudData &	setMaxZ (float val)
PointCloudData &	setMinX (float val)
PointCloudData &	setMinY (float val)
PointCloudData &	setMinZ (float val)
PointCloudData &	setSequenceNum (int64_t seq)
PointCloudData &	setSize (std::tuple< unsigned int, unsigned int > size)
PointCloudData &	setSize (unsigned int width, unsigned int height)
PointCloudData &	setTimestamp (std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > timestamp)
PointCloudData &	setTimestampDevice (std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > timestamp)
PointCloudData &	setWidth (unsigned int width)
virtual	~PointCloudData ()=default
Public Member Functions inherited from dai::Buffer
	Buffer ()
	Creates Buffer message. More...
	Buffer (std::shared_ptr< dai::RawBuffer > ptr)
std::vector< std::uint8_t > &	getData () const
	Get non-owning reference to internal buffer. More...
int64_t	getSequenceNum () const
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration >	getTimestamp () const
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration >	getTimestampDevice () const
void	setData (const std::vector< std::uint8_t > &data)
void	setData (std::vector< std::uint8_t > &&data)
Buffer &	setSequenceNum (int64_t sequenceNum)
Buffer &	setTimestamp (std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > timestamp)
Buffer &	setTimestampDevice (std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > timestamp)
virtual	~Buffer ()=default
Public Member Functions inherited from dai::ADatatype
	ADatatype (std::shared_ptr< RawBuffer > r)
std::shared_ptr< RawBuffer >	getRaw () const
virtual	~ADatatype ()=default

Private Member Functions
std::shared_ptr< RawBuffer >	serialize () const override

Private Attributes
RawPointCloudData &	pcl
std::vector< Point3f >	points

Additional Inherited Members
Protected Attributes inherited from dai::ADatatype
std::shared_ptr< RawBuffer >	raw

Detailed Description

PointCloudData message. Carries point cloud data.

Definition at line 22 of file PointCloudData.hpp.

Constructor & Destructor Documentation

PointCloudData() [1/2]

dai::PointCloudData::PointCloudData

(

)

Construct PointCloudData message.

Definition at line 11 of file pipeline/datatype/PointCloudData.cpp.

PointCloudData() [2/2]

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

explicit

Definition at line 15 of file pipeline/datatype/PointCloudData.cpp.

~PointCloudData()

virtual dai::PointCloudData::~PointCloudData ( )

virtualdefault

Member Function Documentation

getHeight()

unsigned int dai::PointCloudData::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

Definition at line 33 of file pipeline/datatype/PointCloudData.cpp.

getInstanceNum()

unsigned int dai::PointCloudData::getInstanceNum

(

)

const

Retrieves instance number

Definition at line 27 of file pipeline/datatype/PointCloudData.cpp.

getMaxX()

float dai::PointCloudData::getMaxX

(

)

const

Retrieves maximal x coordinate in depth units (millimeter by default)

Definition at line 45 of file pipeline/datatype/PointCloudData.cpp.

getMaxY()

float dai::PointCloudData::getMaxY

(

)

const

Retrieves maximal y coordinate in depth units (millimeter by default)

Definition at line 48 of file pipeline/datatype/PointCloudData.cpp.

getMaxZ()

float dai::PointCloudData::getMaxZ

(

)

const

Retrieves maximal z coordinate in depth units (millimeter by default)

Definition at line 51 of file pipeline/datatype/PointCloudData.cpp.

getMinX()

float dai::PointCloudData::getMinX

(

)

const

Retrieves minimal x coordinate in depth units (millimeter by default)

Definition at line 36 of file pipeline/datatype/PointCloudData.cpp.

getMinY()

float dai::PointCloudData::getMinY

(

)

const

Retrieves minimal y coordinate in depth units (millimeter by default)

Definition at line 39 of file pipeline/datatype/PointCloudData.cpp.

getMinZ()

float dai::PointCloudData::getMinZ

(

)

const

Retrieves minimal z coordinate in depth units (millimeter by default)

Definition at line 42 of file pipeline/datatype/PointCloudData.cpp.

getPclData()

template<typename... T>

pcl::PointCloud< pcl::PointXYZ >::Ptr dai::PointCloudData::getPclData ( ) const

inline

Definition at line 199 of file PointCloudData.hpp.

getPoints()

std::vector< Point3f > & dai::PointCloudData::getPoints

(

)

Definition at line 17 of file pipeline/datatype/PointCloudData.cpp.

getSequenceNum()

int64_t dai::Buffer::getSequenceNum

Retrieves sequence number

Definition at line 34 of file Buffer.cpp.

getTimestamp()

std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > dai::Buffer::getTimestamp

Retrieves timestamp related to dai::Clock::now()

Definition at line 26 of file Buffer.cpp.

getTimestampDevice()

std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > dai::Buffer::getTimestampDevice

Retrieves timestamp directly captured from device's monotonic clock, not synchronized to host time. Used mostly for debugging

Definition at line 30 of file Buffer.cpp.

getWidth()

unsigned int dai::PointCloudData::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

Definition at line 30 of file pipeline/datatype/PointCloudData.cpp.

isSparse()

bool dai::PointCloudData::isSparse

(

)

const

Retrieves whether point cloud is sparse

Definition at line 54 of file pipeline/datatype/PointCloudData.cpp.

serialize()

std::shared_ptr< RawBuffer > dai::PointCloudData::serialize ( ) const

overrideprivatevirtual

Reimplemented from dai::Buffer.

Definition at line 7 of file pipeline/datatype/PointCloudData.cpp.

setHeight()

PointCloudData & dai::PointCloudData::setHeight

(

unsigned int

height

)

Specifies frame height

Parameters

height

frame height

Definition at line 78 of file pipeline/datatype/PointCloudData.cpp.

setInstanceNum()

PointCloudData & dai::PointCloudData::setInstanceNum

(

unsigned int

instance

)

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

Parameters

instance

Instance number

Definition at line 67 of file pipeline/datatype/PointCloudData.cpp.

setMaxX()

PointCloudData & dai::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)

Definition at line 103 of file pipeline/datatype/PointCloudData.cpp.

setMaxY()

PointCloudData & dai::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)

Definition at line 107 of file pipeline/datatype/PointCloudData.cpp.

setMaxZ()

PointCloudData & dai::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)

Definition at line 111 of file pipeline/datatype/PointCloudData.cpp.

setMinX()

PointCloudData & dai::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)

Definition at line 91 of file pipeline/datatype/PointCloudData.cpp.

setMinY()

PointCloudData & dai::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)

Definition at line 95 of file pipeline/datatype/PointCloudData.cpp.

setMinZ()

PointCloudData & dai::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)

Definition at line 99 of file pipeline/datatype/PointCloudData.cpp.

setSequenceNum()

PointCloudData & dai::PointCloudData::setSequenceNum

(

int64_t

seq

)

Specifies sequence number

Parameters

seq	Sequence number

Definition at line 71 of file pipeline/datatype/PointCloudData.cpp.

setSize() [1/2]

PointCloudData & dai::PointCloudData::setSize

(

std::tuple< unsigned int, unsigned int >

size

)

Specifies frame size

Parameters

size	frame size

Definition at line 87 of file pipeline/datatype/PointCloudData.cpp.

setSize() [2/2]

PointCloudData & dai::PointCloudData::setSize	(	unsigned int	width,
		unsigned int	height
	)

Specifies frame size

Parameters

height	frame height
width	frame width

Definition at line 82 of file pipeline/datatype/PointCloudData.cpp.

setTimestamp()

PointCloudData & dai::PointCloudData::setTimestamp

(

std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration >

timestamp

)

Retrieves image timestamp related to dai::Clock::now()

Definition at line 59 of file pipeline/datatype/PointCloudData.cpp.

setTimestampDevice()

PointCloudData & dai::PointCloudData::setTimestampDevice

(

std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration >

timestamp

)

Sets image timestamp related to dai::Clock::now()

Definition at line 63 of file pipeline/datatype/PointCloudData.cpp.

setWidth()

PointCloudData & dai::PointCloudData::setWidth

(

unsigned int

width

)

Specifies frame width

Parameters

width

frame width

Definition at line 74 of file pipeline/datatype/PointCloudData.cpp.

Member Data Documentation

pcl

RawPointCloudData& dai::PointCloudData::pcl

private

Definition at line 24 of file PointCloudData.hpp.

points

std::vector<Point3f> dai::PointCloudData::points

private

Definition at line 25 of file PointCloudData.hpp.

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The documentation for this class was generated from the following files:

• PointCloudData.hpp
• pcl/PointCloudData.cpp