Convert to Point Cloud ======================= The algorithm converts a depth image into a point cloud Input ----- Takes one or two 2D image set(s) as input. The first image set must be representing depth data, i.e. it must contain float single channel images. The second image set is an optional set of corresponding RGB/greyscale images, only data of unsigned char or unsigned short type is supported. Both image sets need a :ref:`camera calibration data component`. When depth and color are provided together, an optional :ref:`RGB-D calibration data component` on the color set supplies the depth-to-color transform; otherwise it is derived from the camera poses. Output ------ Point cloud, possibly with colored vertices Description ----------- The algorithm takes pairs of depth and optionally color images and converts them to point clouds. The **depthCutoff** parameter specifies the maximum depth value to be considered. Pixels with depth larger than this value are ignored.