# PointCloud 3D Vision Data Access functions

This topic lists the available 3D Vision Data Access functions that get values directly from the acquired point cloud data.

Note: Each of the following functions references a PointCloud structure for the first parameter. Index1 (zero-based) determines which acquisition of the point cloud data you want to reference. If you do not specify the index, the index defaults to zero, meaning the function returns the first acquisition. In case of the GetX, GetY and GetZ functions, Index2 is an optional parameter when using edges.

Function | Description
GetCount(PointCloud) | Returns the number of point cloud acquisitions.
GetEncoderOverrun(Structure) | Returns true if an encoder overrun occurred during acquisition.
GetGreyscale(Image) | Returns the reference to the 2D greyscale image acquired by the vision system.
GetROIMaxZ(Structure) | Returns the maximum Z of the ROI of the point cloud acquisition.
GetROIMinZ(Structure) | Returns the minimum Z of the ROI of the point cloud acquisition.
GetScanTime(Structure) | Returns the time between the acquisition of the first laser profile and the acquisition of the last laser profile. In other words, the function returns the time the laser is on.
GetX(PointCloud, [Index1], [Index2]) | Returns the X-axis coordinate of the point cloud center point. Note: The Index2 parameter is valid only in case of edges (where it specifies an endpoint with the value of 0 or 1).
GetY(PointCloud, [Index1], [Index2]) | Returns the Y-axis coordinate of the point cloud center point. Note: The Index2 parameter is valid only in case of edges (where it specifies an endpoint with the value of 0 or 1).
GetZ(PointCloud, [Index1], [Index2]) | Returns the Z-axis coordinate of the point cloud center point. Note: The Index2 parameter is valid only in case of edges (where it specifies an endpoint with the value of 0 or 1).