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PointCloud

The PointCloud node enables on-device point cloud generation from depth map.

How to place it

py

pipeline = dai.Pipeline() pointCloud = pipeline.create(dai.node.PointCloud)

c++

dai::Pipeline pipeline; auto pointCloud = pipeline.create<dai::node::PointCloud>();

Inputs and Outputs

┌─────────────────────┐  
│                     │

inputConfig │ PointCloud │ ──────────────►│ │ outputPointCloud │ ├────────────────► inputDepth │ │ passthroughDepth ──────────────►│---------------------├────────────────► └─────────────────────┘

Message types

  • inputDepth - ImgFrame
  • inputConfig - PointCloudConfig
  • outputPointCloud - PointCloudData
  • passthroughDepth - ImgFrame (passthrough input depth map)

Example visualization with Open3D

py

import open3d as o3d import numpy as np import depthai as dai

pcd = o3d.geometry.PointCloud() vis = o3d.visualization.VisualizerWithKeyCallback() vis.create_window()

with dai.Device(pipeline) as device:

coordinateFrame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1000, origin=[0,0,0]) vis.add_geometry(coordinateFrame)

while device.isPipelineRunning():

inMessage = q.get() inColor = inMessage["rgb"] inPointCloud = inMessage["pcl"] cvColorFrame = inColor.getCvFrame()

if inPointCloud:

points = inPointCloud.getPoints().astype(np.float64) pcd.points = o3d.utility.Vector3dVector(points) colors = (cvRGBFrame.reshape(-1, 3) / 255.0).astype(np.float64) pcd.colors = o3d.utility.Vector3dVector(colors) vis.update_geometry(pcd)

vis.poll_events() vis.update_renderer()

vis.destroy_window()

c++

#include <iostream> #include <open3d/Open3D.h> #include <depthai/depthai.hpp>

int main() {

auto viewer = std::make_unique<pcl::visualization::PCLVisualizer>("Cloud Viewer"); viewer->addPointCloud<pcl::PointXYZ>(cloud, "cloud");

dai::Device device(pipeline);

auto q = device.getOutputQueue("out", 8, false); auto qDepth = device.getOutputQueue("depth", 8, false);

while(true) {

std::cout << "Waiting for data" << std::endl; auto depthImg = qDepth->get<dai::ImgFrame>(); auto pclMsg = q->get<dai::PointCloudData>();

if(!pclMsg) {

std::cout << "No data" << std::endl; continue;

}

auto frame = depthImg->getCvFrame(); frame.convertTo(frame, CV_8UC1, 255 / depth->initialConfig.getMaxDisparity());

if(pclMsg->getPoints().empty()) {

std::cout << "Empty point cloud" << std::endl; continue;

}

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = pclMsg->getPclData(); viewer->updatePointCloud(cloud, "cloud");

viewer->spinOnce(10);

if(viewer->wasStopped()) {

break;

}

}

Examples using PointCloud

  • PointCloud Visualization
  • PointCloud Control

Reference

Python

depthai.node.PointCloud

C++

dai::node::PointCloud