PointCloud Class |
Point cloud with x, y, z, RGB color and SNR laid out on a 2D grid
Inheritance HierarchySystemObject
Zivid.NETPointCloud
Zivid.NETPointCloud
Namespace: Zivid.NET
Assembly: ZividCoreNET (in ZividCoreNET.dll) Version: 2.14.0.0
SyntaxThe PointCloud type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | PointCloud | Initializes a new instance of the PointCloud class |
| PointCloud(PointCloud*) | Initializes a new instance of the PointCloud class |
Properties| Name | Description | |
|---|---|---|
 | Empty | Check if the point cloud is empty |
| Height | Get the height of the point cloud (number of rows) |
| Size | Get the size of the point cloud (total number of points) |
| Width | Get the width of the point cloud (number of columns) |
Methods| Name | Description | |
|---|---|---|
| CopyColorsBGRA |
Point colors (BGRA) as a byte array of rank 3 with size height * width * 4
|
| CopyColorsRGBA |
Point colors (RGBA) as a byte array of rank 3 with size height * width * 4
|
| CopyColorsSRGB |
Point colors (sRGB) as a byte array of rank 3 with size height * width * 4
|
| CopyImageBGRA | Point colors (BGRA) as a 2D image |
| CopyImageRGBA | Point colors (RGBA) as a 2D image |
| CopyImageSRGB | Point colors (sRGB) as a 2D image |
| CopyNormalsXYZ |
Normal vectors (x, y, and z) as a float array of rank 3 with size height * width * 3
|
| CopyPointsXYZ |
Point coordinates (x, y, and z) as a float array of rank 3 with size height * width * 3
|
| CopyPointsXYZColorsBGRA |
Get PointXYZColorBGRA as an array of rank 2 with size height * width
|
| CopyPointsXYZColorsRGBA |
Get PointXYZColorRGBA as an array of rank 2 with size height * width
|
| CopyPointsXYZW |
Point coordinates as 4D (homogeneous coordinates) as a float array of rank 3
with size height * width * 4
|
| CopyPointsZ |
Point Z values as a 2D float array of size height * width
|
| CopySNRs |
Get signal-to-noise ratio (SNR) values as a 2D float array of size height * width
|
| Dispose | Releases all resources used by the PointCloud |
| Downsample | Downsample the point cloud in-place |
| Downsampled | Get a downsampled point cloud |
| ToString | Get string representation of the PointCloud (Overrides ObjectToString.) |
| Transform(Single) | Transform the point cloud in-place by the given 4x4 transformation matrix, represented as a 2D array |
| Transform(Matrix4x4) | Transform the point cloud in-place by the given 4x4 transformation matrix |
Remarks
An instance of this class is a handle to a point cloud stored on the compute device memory.
This class provides several methods to copy point cloud data from the compute device
memory to host (CPU) system memory (RAM).
If this point cloud is the result of a 2D+3D capture, then the point cloud RGB colors will be set from the
captured 2D color image. If different pixel sampling (resolution) settings for 2D and 3D were used, or if the
point cloud is upsampled or downsampled, then the RGB colors will be resampled to correspond 1:1 with the 3D
point cloud resolution. To get the original resolution 2D color image from the 2D+3D capture, see the `Frame2D`
property of the Frame class.
If this point cloud is the result of a 3D-only capture, then the RGB colors will be set to a uniform default
color.
See Also