ColorReconstruction.ProcessFrame Method (FusionFloatImageFrame, Int32, Int32, Matrix4)

Kinect for Windows 1.8

Processes the specified depth frame through the Kinect Fusion pipeline.

Syntax

public bool ProcessFrame (
         FusionFloatImageFrame depthFloatFrame,
         int maxAlignIterationCount,
         int maxIntegrationWeight,
         Matrix4 worldToCameraTransform
)

Parameters

• depthFloatFrame
  Type: FusionFloatImageFrame
  The depth float frame to be processed. The maximum resolution of this frame is 640×480.
• maxAlignIterationCount
  Type: Int32
  The maximum number of iterations of the algorithm to run. The minimum value is one. Using only a small number of iterations will have a faster run time, but the algorithm may not converge to the correct transformation.
• maxIntegrationWeight
  Type: Int32
  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.
• worldToCameraTransform
  Type: Matrix4
  The best guess at the current camera pose. This is usually the camera pose result from the most recent call to the FusionDepthProcessor.AlignPointClouds or ColorReconstruction.AlignDepthFloatToReconstruction method.

Return Value

Type: Boolean
Returns true if successful; returns false if the algorithm encountered a problem aligning the input depth image and could not calculate a valid transformation.

Remarks

This method is equivalent to calling the AlignDepthFloatToReconstruction and IntegrateFrame methods on the specified depth frame. You can call these low-level methods individually to have more control over the operation, but calling ProcessFrame will complete faster due to the integrated nature of the calls.

If you need a visible output image of the reconstruction, call the CalculatePointCloud method and then call the FusionDepthProcessor.ShadePointCloud method.

Requirements

Namespace: Microsoft.Kinect.Toolkit.Fusion

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

See Also

Reference

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