CameraPoseFinder.ProcessFrame Method

Adds the specified camera frame to the camera pose finder database if the frame differs enough from poses that already exist in the database.

JavaScript
C#
C++
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public:
CameraPoseFinderProcessResult ProcessFrame(
         DepthFloatFrame^ depthFloatFrame,
         ColorImageFrame^ colorFrame,
         Matrix4x4 worldToCameraTransform,
         float32 minimumDistanceThreshold
)

Parameters

depthFloatFrame
Type: DepthFloatFrame
The depth float frame to be processed. This frame must have valid camera parameters and have a minimum size of 80×60. Also, this frame must be the same size and have been captured at the same time as the colorFrame parameter.
colorFrame
Type: ColorImageFrame
The color frame to be processed. This frame must have valid camera parameters and have a minimum size of 80×60. Also, this frame must be the same size and have been captured at the same time as the depthFloatFrame parameter.
worldToCameraTransform
Type: Matrix4x4
The current camera pose. This is usually the camera pose result from the most recent call to the Reconstruction.AlignPointClouds or Reconstruction.AlignDepthFloatFrameToReconstruction method.
minimumDistanceThreshold
[C++] 
[C#] 
[JavaScript] 
Type: float32
Type: float
Type: Number
 
Threshold in the range [0.0f, 1.0f] that specifies how different the worldToCameraTransform pose must be from the poses that are already stored in the database. Input frames that have a minimum distance equal to or above this threshold when compared to existing poses will be added to the database. Set this value to 0.0f to always add the pose to the database when this function is called. Note that setting this value to 0.0f can lead to many duplicated poses unless your application implements its own test.

Return value

Type: CameraPoseFinderProcessResult
The result of the operation.

Namespace: Microsoft.Kinect.Fusion
Metadata: microsoft.kinect.fusion.winmd

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