createToFToRGBTransform
open fun createToFToRGBTransform(tofCharacteristics: CameraCharacteristics, rgbCharacteristics: CameraCharacteristics): PointCloudHelper.ToFToRGBTransform
Creates the transform from ToF camera to RGB camera coordinate systems. CRITICAL: LENS_POSE_ROTATION/TRANSLATION give each camera's pose relative to the device, NOT relative to each other. To get ToF→RGB transform, we need: ToF_to_RGB = RGB_pose^(-1) × ToF_pose However, if RGB camera pose is identity or unavailable, we can use ToF pose directly as a reasonable approximation (assumes RGB is at device origin).
Return
Transform from ToF sensor frame to RGB camera frame
Parameters
tofCharacteristics
ToF camera characteristics (Camera ID "2")
rgbCharacteristics
RGB camera characteristics (Camera ID "0"), or null for identity