convertCamera2ToFToWorldSpace
open fun convertCamera2ToFToWorldSpace(tofDepthImage: Image, confidenceImage: Image, tofIntrinsics: PointCloudHelper.ToFIntrinsics, tofToRGBTransform: PointCloudHelper.ToFToRGBTransform, arCameraPose: Pose, confidenceThreshold: Int, maxPoints: Int): Array<FloatBuffer>
Converts Camera2 ToF depth image to 3D world-space points using ARCore tracking.
Return
Array of two FloatBuffers: [points, colors] in world space
Parameters
tofDepthImage
Camera2 depth image (ImageFormat.DEPTH16)
confidenceImage
Optional confidence from Camera2 if available
tofIntrinsics
ToF camera intrinsics
tofToRGBTransform
Transform from ToF sensor to RGB camera
arCameraPose
Current ARCore camera pose (from frame.getCamera().getPose())
confidenceThreshold
Minimum depth confidence (0-255), 0 to include all
maxPoints
Maximum number of points to process