FusionDepthProcessor.DepthFloatFrameToPointCloud Method

Construct an oriented point cloud in the local camera frame of reference from a depth float image frame.

Here we calculate the 3D position of each depth float pixel with the optical center of the camera as the origin. We use a right-hand coordinate system, and (in common with bitmap images with top left origin) +X is to the right, +Y down, and +Z is now forward from the Kinect camera into the scene, as though looking into the scene from behind the Kinect camera. Both images must be the same size and have the same camera parameters.

Syntax

public static void DepthFloatFrameToPointCloud (
         FusionFloatImageFrame depthFloatFrame,
         FusionPointCloudImageFrame pointCloudFrame
)

Parameters

• depthFloatFrame
  Type: FusionFloatImageFrame
  The depth float frame to be converted.
• pointCloudFrame
  Type: FusionPointCloudImageFrame
  A pre-allocated point cloud frame, to be filled with 3D points and normals.

Remarks

This method raises the following exceptions:

Requirements

Namespace: Microsoft.Kinect.Toolkit.Fusion

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

See Also

Reference

FusionDepthProcessor Class
FusionDepthProcessor Members
Microsoft.Kinect.Toolkit.Fusion Namespace