Share via

Reconstruction.CalculatePointCloud Method

  • Article

Calculates a point cloud by raycasting into the reconstruction volume, returning the point cloud containing 3D points and normals of the zero-crossing dense surface at every visible pixel in the image from the specified camera pose.

Syntax

public void CalculatePointCloud (
         FusionPointCloudImageFrame pointCloudFrame,
         Matrix4 worldToCameraTransform
)

Parameters

  • pointCloudFrame
    Type: FusionPointCloudImageFrame

    The pre-allocated point cloud frame, to be filled by raycasting into the reconstruction volume. This point cloud can be used as a reference frame in the next call to the FusionDepthProcessor.AlignPointClouds method, or passed to the FusionDepthProcessor.ShadePointCloud method to produce a visible image output.

    The cloud frame can be an arbitrary image size. This allows you to calculate point clouds at the size of your window and then create a visible image by calling the FusionDepthProcessor.ShadePointCloud method to render this image. Note that large images are expensive to calculate.

  • worldToCameraTransform
    Type: Matrix4
    The world-to-camera transform (camera pose) to raycast from.

Requirements

Namespace: Microsoft.Kinect.Toolkit.Fusion

Assembly: Microsoft.Kinect.Toolkit.Fusion (in microsoft.kinect.toolkit.fusion.dll)

See Also

Reference

Reconstruction Class
Reconstruction Members
Microsoft.Kinect.Toolkit.Fusion Namespace