convertToFDepthTo3dPointBuffer
open fun convertToFDepthTo3dPointBuffer(tofDepthImage: Image, tofIntrinsics: PointCloudHelper.ToFIntrinsics, maxPoints: Int): FloatBuffer
Converts ToF depth image to 3D points in camera space (matching ARCore convention). This is similar to convertRawDepthImagesTo3dPointBuffer() but for ToF depth data. NOTE: For better performance, use convertToFDepthAndColorsInOnePass() which combines unprojection and color matching in a single pass. Output format: [x, y, z, confidence] per point in camera space - Uses ARCore coordinate convention: (cy - v) for Y, negative Z - Filters out invalid depth values (0 and >= 8192mm) - Returns points in camera space ready for world transform
Return
FloatBuffer of points in camera space [x, y, z, confidence] format
Parameters
tofDepthImage
Camera2 depth image (ImageFormat.DEPTH16)
tofIntrinsics
ToF camera intrinsics
maxPoints
Maximum number of points to process