Reconstruction.CalculatePointCloud Method

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.

C#
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public void CalculatePointCloud (
         FusionPointCloudImageFrame pointCloudFrame,
         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.

worldToCameraTransform
Type: Matrix4
The world-to-camera transform (camera pose) to raycast from.

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

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