Hi,
For context, I am a beginner trying to work with an Oak-d-lr device. I have followed luxonis/oak-examplestree/main/depth-measurement/3d-measurement/rgbd-pointcloud to visualise pointclouds in real time from the oak device. I am now trying to create a custom node following https://docs.luxonis.com/software-v3/depthai/depthai-components/host_nodes/#Host%20Nodes, and then send PointCloudData object as output from my custom node to the dai.RemoteConnection() visualizer.
I am trying to create my own dai.PointCloudData() instance because I want to manually adjust the PointCloudData object I am getting from dai.node.RGBD. The issue I am facing is that the PointCloudData has its color property set as False by default whenever a new instance is created. I know the PointCloudData object is not coloured because isColor() returns False. There is no setColor() method. So, when I use setData() to give the new PointCloudData object points, it interprets my r, g, b values as x, y, z.
My question is: In Python, is it possible to create a new PointCloudData() instance with its color property set to True?
I would appreciate any guidance or help. I have also included my code below for additional context
buf = bytearray()
for pt in adjusted_points:
buf.extend(struct.pack('fffBBB', *pt))
new_cloud = dai.PointCloudData()
new_cloud.setData(buf)