Class PointCloudData

Nested Relationships

Nested Types

Inheritance Relationships

Base Types

Class Documentation

class PointCloudData : public dai::Buffer, public dai::ProtoSerializable

PointCloudData message. Carries point cloud data.

Public Functions

PointCloudData() = default

Construct PointCloudData message.

virtual ~PointCloudData()
std::vector<Point3f> getPoints()
std::vector<Point3fRGBA> getPointsRGB()
void setPoints(const std::vector<Point3f> &points)
void setPointsRGB(const std::vector<Point3fRGBA> &points)
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

bool isColor() const

Retrieves whether point cloud is color

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)

PointCloudData &setSparse(bool val)

Specifies whether point cloud is sparse

Parameters:

val – whether point cloud is sparse

PointCloudData &setColor(bool val)

Specifies whether point cloud is color

Parameters:

val – whether point cloud is color

PointCloudData &setInstanceNum(unsigned int instanceNum)

Specifies instance number

Parameters:

instanceNum – instance number

template<typename ...T>
inline void getPclData() const
template<typename ...T>
inline void setPclData(T...)
virtual void serialize(std::vector<std::uint8_t> &metadata, DatatypeEnum &datatype) const override
DEPTHAI_SERIALIZE(PointCloudData, width, height, minx, miny, minz, maxx, maxy, maxz, sparse, instanceNum, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum)
int64_t getSequenceNum() const

Retrieves image 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

template<typename ...T>
struct dependent_false

Public Static Attributes

static constexpr bool value = false