INuiFusionReconstruction::IntegrateFrame Method

  • Article

Integrates depth float data and color data into the reconstruction volume from the specified camera pose.

Syntax

public:
HRESULT IntegrateFrame(
         const NUI_FUSION_IMAGE_FRAME *pDepthFloatFrame,
         USHORT maxIntegrationWeight,
         const Matrix4 *pWorldToCameraTransform
)

Parameters

  • pDepthFloatFrame
    Type: NUI_FUSION_IMAGE_FRAME
    The depth float frame to be integrated.
  • maxIntegrationWeight
    Type: USHORT
    A parameter to control the temporal smoothing of depth integration. The minimum value is one. Lower values have more noisy representations, but are suitable for more dynamic environments because moving objects integrate and disintegrate faster. Higher values integrate objects more slowly, but provide finer detail with less noise.
  • pWorldToCameraTransform
    Type: Matrix4
    The camera pose. This is usually the camera pose result from the most recent call to the AlignPointClouds or AlignDepthFloatToReconstruction method.

Return value

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

Requirements

Header: nuikinectfusionvolume.h

Library: TBD