all the pos3d values are zero while posUVZ values are not zero - c++

Question

In the following snippet, when I print the posUVZ values, they are non-zero but after I pass them to ProjectDepthToCamera(wxhDepth, posUVZ, pos3D) all the pos3D values happen to be zero. Any though on why is this happening and how to fix it?
/***
Reads the depth data from the sensor and fills in the matrix
***/
void SR300Camera::fillInZCoords()
{
PXCImage::ImageData depthImage;
PXCImage *depthMap = sample->depth;
depthMap->AcquireAccess(PXCImage::ACCESS_READ, &depthImage);
PXCImage::ImageInfo imgInfo = depthMap->QueryInfo();
int depth_stride = depthImage.pitches[0] / sizeof(pxcU16);
Projection * projection = device->CreateProjection();
unsigned int wxhDepth = depth_width * depth_height;
// create the array of depth coordinates + depth value (posUVZ) within the defined ROI
PXCPoint3DF32* posUVZ = new PXCPoint3DF32[wxhDepth];
pxcU16 *dpixels = (pxcU16*)depthImage.planes[0];
unsigned int dpitch = depthImage.pitches[0] / sizeof(pxcU16); /* aligned width */
for (unsigned int yy = 0, k = 0; yy < depth_height; yy++)
{
for (unsigned int xx = 0; xx < depth_width; xx++, k++)
{
posUVZ[k].x = (pxcF32)xx;
posUVZ[k].y = (pxcF32)yy;
posUVZ[k].z = (pxcF32)dpixels[yy * dpitch + xx];
// cout << "xx is " << posUVZ[k].x << endl;
// cout << "yy is " << posUVZ[k].y << endl;
// cout << "zz is " << posUVZ[k].z<< endl;
}
}
// convert the array of depth coordinates + depth value (posUVZ) into the world coordinates (pos3D) in mm
PXCPoint3DF32* pos3D = new PXCPoint3DF32[wxhDepth];
projection->ProjectDepthToCamera(wxhDepth, posUVZ, pos3D);
/*
if (projection->ProjectDepthToCamera(wxhDepth, posUVZ, pos3D) < PXC_STATUS_NO_ERROR)
{
delete[] posUVZ;
delete[] pos3D;
cout << "projection unsucessful";
return;
}
*/
for (unsigned int yy = 0, k = 0; yy < depth_height; yy++)
{
for (unsigned int xx = 0; xx < depth_width; xx++, k++)
{
cout << "xx is " << pos3D[k].x*1000.0 << endl;
cout << "yy is " << pos3D[k].y*1000.0 << endl;
cout << "zz is " << pos3D[k].z*1000.0 << endl;
xyzBuffer.push_back(cv::Point3f(pos3D[k].x, pos3D[k].y, pos3D[k].z));
}
}
/*
for (int idx = 0; idx < wxhDepth; idx++) {
cout << "x is " << pos3D[idx].x*1000.0 << endl;
cout << "y is " << pos3D[idx].y*1000.0 << endl;
cout << "z is " << pos3D[idx].z*1000.0 << endl;
xyzBuffer.push_back(cv::Point3f(pos3D[idx].x, pos3D[idx].y, pos3D[idx].z));
}
*/
//xyzMap = cv::Mat(xyzMap.size(), xyzMap.type, &pos3D);
xyzMap = cv::Mat(xyzBuffer);
cout << "xyzMap = " << endl << " " << xyzMap << endl << endl;
projection->Release();
delete[] posUVZ;
delete[] pos3D;
};

Answer 1

Here's the correct answer to get the xyzMap from the Depth image UVmap:
PXCImage::ImageData depthImage;
depthMap->AcquireAccess(PXCImage::ACCESS_READ, &depthImage);
PXCImage::ImageInfo imgInfo = depthMap->QueryInfo();
depth_width = imgInfo.width;
depth_height = imgInfo.height;
num_pixels = depth_width * depth_height;
PXCProjection * projection = device->CreateProjection();
PXCPoint3DF32 *pos3D = new PXCPoint3DF32[num_pixels];
sts = projection->QueryVertices(depthMap, &pos3D[0]);
if (sts < Status::STATUS_NO_ERROR) {
wprintf_s(L"Projection was unsuccessful! \n");
sm->Close();
}