public ArrayImage <Short3> DepthImageToPointCloud(Image depth, Calibration.DeviceType camera = Calibration.DeviceType.Depth)
{
ArrayImage <Short3> pointCloud = new ArrayImage <Short3>(ImageFormat.Custom,
depth.WidthPixels, depth.HeightPixels);
DepthImageToPointCloud(depth, pointCloud, camera);
return(pointCloud);
}
public ArrayImage <ushort> DepthImageToColorCamera(Image depth)
{
ArrayImage <ushort> image = new ArrayImage <ushort>(ImageFormat.Depth16,
calibration.color_camera_calibration.resolution_width,
calibration.color_camera_calibration.resolution_height)
{
Timestamp = depth.Timestamp
};
DepthImageToColorCamera(depth, image);
return(image);
}
public ArrayImage <BGRA> ColorImageToDepthCamera(Image depth, Image color)
{
ArrayImage <BGRA> transformed = new ArrayImage <BGRA>(ImageFormat.ColorBGRA32,
calibration.depth_camera_calibration.resolution_width,
calibration.depth_camera_calibration.resolution_height)
{
Exposure = color.Exposure,
ISOSpeed = color.ISOSpeed,
Timestamp = color.Timestamp,
WhiteBalance = color.WhiteBalance
};
ColorImageToDepthCamera(depth, color, transformed);
return(transformed);
}