unprojectDepthPixelToWorld
open fun unprojectDepthPixelToWorld(cameraImageX: Int, cameraImageY: Int, cameraImage: Image, depthImage: Image, cameraTextureIntrinsics: CameraIntrinsics, cameraPose: Pose): Vector3
Unprojects a single 2D pixel coordinate (from the camera image) into a 3D world-space coordinate.
Return
A Vector3 in world-space, or null if depth is unavailable at that point.
Parameters
cameraImageX
The x-coordinate of the pixel in the full-resolution cameraImage.
cameraImageY
The y-coordinate of the pixel in the full-resolution cameraImage.
cameraImage
The full-resolution YUV camera image (used for dimensions).
depthImage
The raw depth image (used for depth value and dimensions).
cameraTextureIntrinsics
The camera intrinsics for the texture.
cameraPose
The pose of the camera at the time of capture.