PointCloud Class

Point cloud with x, y, z, RGB color and SNR laid out on a 2D grid

Inheritance Hierarchy

SystemObject
Zivid.NETPointCloud

Namespace: Zivid.NET
Assembly: ZividCoreNET (in ZividCoreNET.dll) Version: 2.15.0.0

Syntax

C++

Copy

public class PointCloud : IDisposable

Public Class PointCloud
	Implements IDisposable

public ref class PointCloud : IDisposable

The 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

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Properties

	Name	Description
	Empty	Check if the point cloud is empty
	Height	Get the height of the point cloud (number of rows)
	IsDisposed
	Size	Get the size of the point cloud (total number of points)
	TransformationMatrix	Return the current transformation matrix of this point cloud
	Width	Get the width of the point cloud (number of columns)

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Methods

	Name	Description
	Clone	Returns a clone of the point cloud. The clone will include a copy of all of the point cloud data on the compute device memory. This means that the returned point cloud will not be affected by subsequent modifications (such as transform or downsample) on the original point cloud.
	CopyColorsBGRA	Point colors (BGRA) as a byte array of rank 3 with size height * width * 4
	CopyColorsBGRA_SRGB	Point colors (BGRA in sRGB color space) 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
	CopyColorsRGBA_SRGB	Point colors (RGBA in sRGB color space) as a byte array of rank 3 with size height * width * 4
	CopyColorsSRGB	Point colors (RGBA in sRGB color space) as a byte array of rank 3 with size height * width * 4
	CopyImageBGRA	Point colors (BGRA) as a 2D image
	CopyImageBGRA_SRGB	Point colors (BGRA in sRGB color space) as a 2D image
	CopyImageRGBA	Point colors (RGBA) as a 2D image
	CopyImageRGBA_SRGB	Point colors (RGBA in sRGB color space) as a 2D image
	CopyImageSRGB	Point colors (RGBA in sRGB color space) 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
	CopyPointsXYZColorsBGRA_SRGB	Get PointXYZColorBGRA_SRGB as an array of rank 2 with size height * width
	CopyPointsXYZColorsRGBA	Get PointXYZColorRGBA as an array of rank 2 with size height * width
	CopyPointsXYZColorsRGBA_SRGB	Get PointXYZColorRGBA_SRGB 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
	ShallowCopy	Returns a shallow copy of the point cloud. The copy will share the point cloud data with the original point cloud instance. This means that modifications to the point cloud data in the copy will also affect the original point cloud instance.
	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

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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.

Reference

Zivid.NET Namespace