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ColorReconstruction.DepthToDepthFloatFrame Method

  • Article

Kinect for Windows 1.8

Converts the specified array of Kinect depth pixels to a FusionFloatImageFrame object.

Syntax

public void DepthToDepthFloatFrame (
         DepthImagePixel[] depthImageData,
         FusionFloatImageFrame depthFloatFrame,
         float minDepthClip,
         float maxDepthClip,
         bool mirrorDepth
)

Parameters

  • depthImageData
    Type: DepthImagePixel
    The array of Kinect depth pixels in unsigned short format to convert. This data must have the same pixel resolution as the depthFloatFrame parameter.
  • depthFloatFrame
    Type: FusionFloatImageFrame
    A floating-point depth float frame that receives the converted depth data. This data must have the same pixel resolution as the depthImageData parameter.
  • minDepthClip
    Type: Single
    The minimum depth threshold, meters. Values below this threshold will be set to zero.
  • maxDepthClip
    Type: Single
    The maximum depth threshold, in meters. Values above this threshold will be set to 1,000.
  • mirrorDepth
    Type: Boolean
    Specify true to mirror the depth values. Specify false so the image appears correct if viewing the Kinect sensor from behind.

Exceptions

Exception type Condition
ArgumentException One of the following occurred:
  • The depthImageData or depthFloatFrame parameter is an incorrect image size.
  • The pixel resolutions of the depthImageData and depthFloatFrame parameter do not match.
ArgumentNullException The depthImageData or depthFloatFrame parameter is null.
InvalidOperationException One of the following occurred:
  • The Kinect Runtime could not be accessed.
  • The device is not connected.
  • The call failed for an unknown reason.

Remarks

The minDepthClip and maxDepthClip parameters enable clipping of the input data; for example, these values help to isolate particular objects or surfaces to be reconstructed. In situations where the camera is static or does not move significantly, the minDepthClip parameter is important for reconstruction integration, as it enables any voxels closer to the camera along this ray to be culled instead of persisting (as would happen if the pixels were simply set to zero and ignored in processing). When reconstructing large real-world size volumes, the maxDepthClip parameter is important when the camera moves around, as any voxels in view which are farther from the sensor than this threshold will be removed.

This method runs on the GPU.

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