# Generate

Source: https://www.nianticspatial.com/docs/api/unity/NianticSpatial.NSDK.AR.Occlusion.NsdkPointCloudGenerator.Generate/

Generate
Generate a point cloud from a depth texture using the given intrinsics and extrinsics.

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## Declaration

public Vector4[] Generate(Texture depth, XRCameraIntrinsics intrinsics, Matrix4x4 extrinsics)

#### Summary

Generate a point cloud from a depth texture using the given intrinsics and extrinsics.

#### Remarks

This is an allocating, blocking call.

#### Returns

A collection of 3D points generated from the image.

### Parameters

| Name | Type | Summary |
| --- | --- | --- |
| depth | Texture | The depth image. |
| intrinsics | XRCameraIntrinsics | The camera intrinsic parameters for the depth image. |
| extrinsics | Matrix4x4 | The camera to world transform. |

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## Overload 1

public Vector4[] Generate(Texture depth, Matrix4x4 intrinsics, Matrix4x4 extrinsics)

#### Summary

Generate a point cloud from a depth texture using the given intrinsics and extrinsics.

#### Remarks

This is an allocating, blocking call.

#### Returns

A collection of 3D points generated from the image.

### Parameters

| Name | Type | Summary |
| --- | --- | --- |
| depth | Texture | The depth image. |
| intrinsics | XRCameraIntrinsics | The camera intrinsic parameters for the depth image. |
| extrinsics | Matrix4x4 | The camera to world transform. |

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## Overload 2

public void Generate(Texture depth, XRCameraIntrinsics intrinsics, Matrix4x4 extrinsics, ref Vector4[] result)

#### Summary

Generate a point cloud from a depth texture using the given intrinsics and extrinsics.

#### Remarks

This is a non-allocating, blocking call.

### Parameters

| Name | Type | Summary |
| --- | --- | --- |
| depth | Texture | The depth image. |
| intrinsics | XRCameraIntrinsics | The camera intrinsic parameters for the depth image. |
| extrinsics | Matrix4x4 | The camera to world transform. |

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## Overload 3

public void Generate(Texture depth, Matrix4x4 intrinsics, Matrix4x4 extrinsics, ref Vector4[] result)

#### Summary

Generate a point cloud from a depth texture using the given intrinsics and extrinsics.

#### Remarks

This is a non-allocating, blocking call.

### Parameters

| Name | Type | Summary |
| --- | --- | --- |
| depth | Texture | The depth image. |
| intrinsics | XRCameraIntrinsics | The camera intrinsic parameters for the depth image. |
| extrinsics | Matrix4x4 | The camera to world transform. |

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