ColorReconstruction.CalculatePointCloudAndDepth Method

Kinect for Windows 1.8

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.

C#
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public void CalculatePointCloudAndDepth (
         FusionPointCloudImageFrame pointCloudFrame,
         FusionFloatImageFrame depthFloatFrame,
         FusionColorImageFrame colorFrame,
         Matrix4 worldToCameraTransform
)

Parameters

pointCloudFrame
Type: FusionPointCloudImageFrame

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 FusionDepthProcessor.AlignPointClouds method, or passed to the FusionDepthProcessor.ShadePointCloud method 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 FusionDepthProcessor.ShadePointCloud method to render this image. Note that large images are expensive to calculate.

depthFloatFrame
Type: FusionFloatImageFrame
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 pointCloudFrame parameter. You can use this depth image as a reference frame for the AlignDepthFloatToReconstruction method by calling the SetAlignDepthFloatToReconstructionReferenceFrame method to enable a greater range of tracking.
colorFrame
Type: FusionColorImageFrame
The color frame to fill.
worldToCameraTransform
Type: Matrix4
The world-to-camera transform (camera pose) to raycast from.

Exception typeCondition
ArgumentException The pointCloudFrame, depthFloatFrame, or colorFrame parameter is an incorrect image size.
ArgumentNullException The pointCloudFrame, depthFloatFrame, or colorFrame 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.

Namespace: Microsoft.Kinect.Toolkit.Fusion
Assembly: Microsoft.Kinect.Toolkit.Fusion (in microsoft.kinect.toolkit.fusion.dll)

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