# MLXRCpuDepthFeature

This feature provides functionality for working with camera depth data from Unity ARFoundation.

{% hint style="success" %}
This class is distributed in the [`ai.natml.natml.arfoundation`](https://github.com/natmlx/NatML-ARFoundation) integration library.
{% endhint %}

## Creating the Feature

```csharp
/// <summary>
/// Create an AR depth image feature.
/// </summary>
/// <param name="image">Augmented reality image.</param>
/// <param name="camera">AR session camera.</param>
/// <param name="orientation">Image orientation. If `Unknown`, this will default to the screen orientation.</param>
MLXRCpuDepthFeature (XRCpuImage image, Camera camera, ScreenOrientation orientation = 0);
```

INCOMPLETE.

## Inspecting the Feature

The depth feature exposes its underlying `type`, along with convenience properties for inspecting the aforementioned `type`.

### Feature Type

```csharp
/// <summary>
/// Feature type.
/// </summary>
MLFeatureType type { get; }
```

Refer to the [Inspecting the Feature](/unity/api/mlfeature.md#inspecting-the-feature) section of the [`MLDepthFeature`](/unity/api/mlfeature/mldepthfeature.md#feature-type) class for more information.

### Depth Map Width

```csharp
/// <summary>
/// Depth map width.
/// </summary>
int width { get; }
```

Refer to the [Depth Map Width](/unity/api/mlfeature/mldepthfeature.md#depth-map-width) section of the [`MLDepthFeature`](/unity/api/mlfeature/mldepthfeature.md) class for more information.

### Depth Map Height

```csharp
/// <summary>
/// Depth map height.
/// </summary>
int height { get; }
```

Refer to the [Depth Map Height](/unity/api/mlfeature/mldepthfeature.md#depth-map-height) section of the [`MLDepthFeature`](/unity/api/mlfeature/mldepthfeature.md) class for more information.

## Sampling Pixel Depth

```csharp
/// <summary>
/// Sample the depth feature at a given point.
/// </summary>
/// <param name="point">Point to sample in normalized coordinates.</param>
/// <returns>Depth in meters.</returns>
float Sample (Vector2 point);
```

Refer to the [Sampling Pixel Depth](/unity/api/mlfeature/mldepthfeature.md#sampling-pixel-depth) section of the [`MLDepthFeature`](/unity/api/mlfeature/mldepthfeature.md) class for more information.

## Projecting to 3D Space

```csharp
/// <summary>
/// Project a 2D point into 3D world space using depth.
/// </summary>
/// <param name="point">Point to transform in normalized camera coordinates.</param>
/// <returns>Projected point in 3D world space.</param>
Vector3 ViewportToWorldPoint (Vector2 point);
```

Refer to the [Projecting to 3D Space](/unity/api/mlfeature/mldepthfeature.md#projecting-to-3d-space) section of the [`MLDepthFeature`](/unity/api/mlfeature/mldepthfeature.md) class for more information.


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