# GenerateAsync

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

GenerateAsync
A coroutine to generate a point cloud from a depth texture using the given intrinsics and extrinsics.

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## Declaration

public IEnumerator GenerateAsync(Texture depth, Matrix4x4 intrinsics, Matrix4x4 extrinsics, Action<Vector4[]> onComplete)

#### Summary

A coroutine to generate a point cloud from a depth texture using the given intrinsics and extrinsics.

#### Remarks

This is an allocating, non-blocking call.

### Parameters

| Name | Type | Summary |
| --- | --- | --- |
| depth | Texture | The depth image. |
| intrinsics | Matrix4x4 | The camera intrinsic parameters for the depth image. |
| extrinsics | Matrix4x4 | The camera to world transform. |
| onComplete | Action<Vector4[]> | Callback for when the task completes. |

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