Function opencv::rgbd::depth_to3d

pub fn depth_to3d(
    depth: &dyn ToInputArray, 
    k: &dyn ToInputArray, 
    points3d: &mut dyn ToOutputArray, 
    mask: &dyn ToInputArray
) -> Result<()>

Converts a depth image to an organized set of 3d points. The coordinate system is x pointing left, y down and z away from the camera

Parameters

• depth: the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters (as done with the Microsoft Kinect), otherwise, if given as CV_32F or CV_64F, it is assumed in meters)
• K: The calibration matrix
• points3d: the resulting 3d points. They are of depth the same as depth if it is CV_32F or CV_64F, and the depth of K if depth is of depth CV_U
• mask: the mask of the points to consider (can be empty)

C++ default parameters

• mask: noArray()