ColorReconstruction.CalculatePointCloudAndDepth Method

Kinect for Windows 1.8

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, color visualization image, and the depth to the surface.

Syntax

public void CalculatePointCloudAndDepth (
         FusionPointCloudImageFrame pointCloudFrame,
         FusionFloatImageFrame depthFloatFrame,
         FusionColorImageFrame colorFrame,
         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.

• depthFloatFrame
  Type: FusionFloatImageFrame
  A floating-point depth frame, to be filled with floating-point depths to the raycast surface, in meters. This image must be identical in size and camera parameters to the pointCloudFrame parameter. You can use this depth image as a reference frame for the AlignDepthFloatToReconstruction method by calling the SetAlignDepthFloatToReconstructionReferenceFrame method to enable a greater range of tracking.

• colorFrame
  Type: FusionColorImageFrame
  The color frame to fill.

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

Exceptions

Requirements

Namespace: Microsoft.Kinect.Toolkit.Fusion

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

See Also

Reference

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