Reconstruction.IntegrateFrame Method

Integrates depth float data into the reconstruction volume from the passed camera pose.

Note: this function will also set the internal camera pose.

Syntax

public void IntegrateFrame (
         FusionFloatImageFrame depthFloatFrame,
         int maxIntegrationWeight,
         Matrix4 worldToCameraTransform
)

Parameters

• depthFloatFrame
  Type: FusionFloatImageFrame
  The depth float frame to be integrated.
• maxIntegrationWeight
  Type: Int32
  A parameter to control the temporal smoothing of depth integration. Minimum value is 1. Lower values have more noisy representations, but objects that move integrate and disintegrate faster, so are suitable for more dynamic environments. Higher values integrate objects more slowly, but provides finer detail with less noise.
• worldToCameraTransform
  Type: Matrix4
  The camera pose (usually the camera pose result from the last AlignPointClouds or AlignDepthFloatToReconstruction).

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

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