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NuiFusionShadePointCloud

  • Article

Produces two shaded images from the point cloud frame, based on point position and surface normal.

Syntax

HRESULT FUSIONAPI NuiFusionShadePointCloud(
         const NUI_FUSION_IMAGE_FRAME *pPointCloudFrame,
         const Matrix4 *pWorldToCameraTransform,
         const Matrix4 *pWorldToBGRTransform,
         const NUI_FUSION_IMAGE_FRAME *pShadedSurfaceFrame,
         const NUI_FUSION_IMAGE_FRAME *pShadedSurfaceNormalsFrame
)

Parameters

  • pPointCloudFrame
    Type: NUI_FUSION_IMAGE_FRAME
    [in] The point cloud frame to shade.
  • pWorldToCameraTransform
    Type: Matrix4
    [in] The transform used to determine the perspective of the shaded point cloud relative to the world. This affects the application of the worldToRGBTramsform to the point cloud. To achieve consistent results, this should match the world-to-camera transform that was used to create the point cloud frame.
  • pWorldToBGRTransform
    Type: Matrix4
    [in, optional] The transform that defines a mapping from position to RGB color space. The X, Y, Z components of the point positions transformed by this matrix are used as the R, G, B values in the rendered frame.
  • pShadedSurfaceFrame
    Type: NUI_FUSION_IMAGE_FRAME
    [in, optional] A color image frame that receives the shaded frame which includes lighting based on the surface normal.
  • pShadedSurfaceNormalsFrame
    Type: NUI_FUSION_IMAGE_FRAME
    [in, optional] A color image frame that receives the shaded frame.

Return value

Type: HRESULT FUSIONAPI
S_OK if successful; otherwise, returns a failure code.

Requirements

Header: nuikinectfusiondepthprocessor.h

Library: TBD