ColorReconstruction Class
Encapsulates reconstruction volume creation, updating, and meshing functions with color.
Syntax
public ref class ColorReconstruction sealed
public sealed class ColorReconstruction
var colorReconstruction = Microsoft.Kinect.Fusion.ColorReconstruction;
Members
ColorReconstruction has the following members.
Constructors
| Name | Description |
|---|---|
| ColorReconstruction | Overloaded. Initializes a new instnce of the ColorReconstruction class. |
Methods
| Name | Description |
|---|---|
| AlignDepthFloatFrameToReconstruction | Aligns a depth float image to the reconstruction volume to calculate the new camera pose. |
| AlignPointClouds | Aligns two sets of overlapping oriented point clouds and calculates the camera's relative pose. |
| CalculateMesh | Exports a polygon mesh of the zero-crossing dense surfaces from the reconstruction volume with per-vertex color. |
| CalculatePointCloud | 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 and color visualization image. |
| CalculatePointCloudAndDepth | 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, color visualization image, and the depth to the surface. |
| DepthToDepthFloatFrame | Converts the specified array of Kinect depth pixels to a DepthFloatFrame object. |
| ExportVolumeBlock | Exports a part or all of the reconstruction volume as a short array. |
| GetCurrentWorldToCameraTransform | Retrieves the current internal world-to-camera transform (camera view pose). |
| GetCurrentWorldToVolumeTransform | Gets the current internal world-to-volume transform. |
| ImportVolumeBlock | Imports a reconstruction volume as a buffer of shorts, with color as an integer buffer. |
| IntegrateFrame | Integrates depth float data and color data into the reconstruction volume from the specified camera pose. |
| ProcessFrame | Processes the specified depth frame and color frame through the Kinect Fusion pipeline. |
| ResetReconstruction | Clears the reconstruction volume and sets a new world-to-camera transform (camera view pose). |
| SetAlignDepthFloatToReconstructionReferenceFrame | Sets a reference depth frame that is used internally to help with tracking when calling the AlignDepthFloatFrameToReconstruction method to calculate a new camera pose.
.gif) Note
You should call this method only if you are not using the default tracking behavior of Kinect Fusion.
|
| SmoothDepthFloatFrame | Spatially smoothes a depth float image frame using edge-preserving filtering. |
Remarks
Important
When passing frames with a resolution that differs from that of the frames that were previously passed to the reconstruction volume, call the ResetReconstruction method before processing the frames with the new resolution. Failure to reset the volume can result in camera tracking failure and erroneous volume data.
Requirements
Namespace: Microsoft.Kinect.Fusion
Metadata: microsoft.kinect.fusion.winmd