Class PointCloudConfig

• Defined in File PointCloudConfig.hpp

Inheritance Relationships

Base Type

• public dai::Buffer (Class Buffer)

Class Documentation

class PointCloudConfig : public dai::Buffer

PointCloudConfig message. Carries ROI (region of interest) and threshold for depth calculation

Public Functions

PointCloudConfig() = default

Construct PointCloudConfig message.

virtual ~PointCloudConfig()

bool getSparse() const

Retrieve sparse point cloud calculation status.

Returns:

true if sparse point cloud calculation is enabled, false otherwise

std::array<std::array<float, 4>, 4> getTransformationMatrix() const

Retrieve transformation matrix for point cloud calculation.

Returns:

4x4 transformation matrix

PointCloudConfig &setSparse(bool enable)

Enable or disable sparse point cloud calculation.

Parameters:

enable –

PointCloudConfig &setTransformationMatrix(const std::array<std::array<float, 4>, 4> &transformationMatrix)

Set 4x4 transformation matrix for point cloud calculation. Default is an identity matrix.

Parameters:

transformationMatrix –

PointCloudConfig &setTransformationMatrix(const std::array<std::array<float, 3>, 3> &transformationMatrix)

Set 3x3 transformation matrix for point cloud calculation. Default is an identity matrix.

Parameters:

transformationMatrix –

virtual void serialize(std::vector<std::uint8_t> &metadata, DatatypeEnum &datatype) const override

DEPTHAI_SERIALIZE(PointCloudConfig, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, sparse, transformationMatrix)