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INuiFusionColorReconstruction::CalculatePointCloudAndDepth 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, color visualization image, and the depth to the surface.

Syntax

public:
HRESULT CalculatePointCloudAndDepth(
         const NUI_FUSION_IMAGE_FRAME *pPointCloudFrame,
         const NUI_FUSION_IMAGE_FRAME *pDepthFloatFrame,
         const NUI_FUSION_IMAGE_FRAME *pColorFrame,
         const Matrix4 *pWorldToCameraTransform
)

Parameters

  • pPointCloudFrame
    Type: NUI_FUSION_IMAGE_FRAME
    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 AlignPointClouds method, or passed to the NuiFusionShadePointCloud function 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 NuiFusionShadePointCloud function method to render this image. Note that large images are expensive to calculate.

  • pDepthFloatFrame
    Type: NUI_FUSION_IMAGE_FRAME
    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 pPointCloudFrame parameter. You can use this depth image as a reference frame for the INuiFusionColorReconstruction::AlignDepthFloatToReconstruction Method method by calling the INuiFusionColorReconstruction::SetAlignDepthFloatToReconstructionReferenceFrame Method method to enable a greater range of tracking.

  • pColorFrame
    Type: NUI_FUSION_IMAGE_FRAME
    The color frame to fill.

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

Return value

Type: HRESULT
S_OK if successful; otherwise, returns a failure code.

Requirements

Header: nuikinectfusioncolorvolume.h

Library: TBD