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INuiFusionColorReconstruction::GetCurrentWorldToVolumeTransform Method

  • Article

Kinect for Windows 1.8

Gets the current internal world-to-volume transform.

Syntax

public:
HRESULT GetCurrentWorldToVolumeTransform(
         Matrix4 *pWorldToVolumeTransform
)

Parameters

  • pWorldToVolumeTransform
    Type: Matrix4
    Pointer that receives the current world-to-volume transform. This is a similarity transformation that converts world coordinates to volume coordinates.

Return Value

Type: HRESULT
HRESULT success or error code.

Remarks

A right handed coordinate system is used, with the origin of the volume (that is, voxel 0,0,0) at the top left of the front plane of the cube. Similar to bitmap images with top left origin, +X is to the right, +Y down, and +Z is forward from the origin into the reconstruction volume..

The default transformation is a combination of translation in x-axis and y-axis to locate the world origin at the center of the front face of the reconstruction volume cube, and scaling by the VoxelsPerMeter value to convert from the world coordinate system to volume voxel indices.

Requirements

Header: Declared in nuikinectfusioncolorvolume.h.

Library: Use KinectFusion180_32.lib for 32-bit applications and use KinectFusion180_64.lib for 64-bit applications.