FusionDepthProcessor.ShadePointCloud Method (FusionPointCloudImageFrame, Matrix4, Matrix4, FusionColorImageFrame, FusionColorImageFrame)

Create a visible color shaded image of a point cloud and its normals. All image frames must have the same width and height.

Syntax

public static void ShadePointCloud (
         FusionPointCloudImageFrame pointCloudFrame,
         Matrix4 worldToCameraTransform,
         Matrix4 worldToBGRTransform,
         FusionColorImageFrame shadedSurfaceFrame,
         FusionColorImageFrame shadedSurfaceNormalsFrame
)

Parameters

• pointCloudFrame
  Type: FusionPointCloudImageFrame
  The point cloud frame to be shaded.

• worldToCameraTransform
  Type: Matrix4

  The world to camera transform (camera pose) where the raycast was performed from.

  Pass identity if the point cloud did not originate from a raycast and is in the camera local coordinate system.

• worldToBGRTransform
  Type: Matrix4
  A transform mapping the XYZ co-ordinates of world space to a BGR color space, used to color surfaces according to their world positions. RGB values are clamped to the range [0, 1].

• shadedSurfaceFrame
  Type: FusionColorImageFrame
  Optionally, a pre-allocated color image frame, to be filled with the shaded surface image. Pass null to skip this image.

• shadedSurfaceNormalsFrame
  Type: FusionColorImageFrame
  ptionally, a pre-allocated color image frame, to be filled with the color shaded normals image with color indicating orientation. Pass null to skip this image.

Remarks

This method raises the following exceptions:

Requirements

Namespace: Microsoft.Kinect.Toolkit.Fusion

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

See Also

Reference

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