parameters: (depth)
return_statement: return np.dstack([X,Y,depth.copy()])
docstring: Convert a HxW depth image (float, in meters)
          to XYZ (HxWx3).
  
          y is along the height.
          x is along the width.
docstring_summary: Convert a HxW depth image (float, in meters)
          to XYZ (HxWx3).
docstring_tokens: Convert a HxW depth image ( float in meters ) to XYZ ( HxWx3 ) .
function: def depth2xyz(depth):
          """
          Convert a HxW depth image (float, in meters)
          to XYZ (HxWx3).
  
          y is along the height.
          x is along the width.
          """
          H,W = depth.shape
          xx,yy = np.meshgrid(np.arange(W),np.arange(H))
          X = (xx-W/2) * depth / DepthCamera.f
          Y = (yy-H/2) * depth / DepthCamera.f
          return np.dstack([X,Y,depth.copy()])
function_tokens: def depth2xyz ( depth ) : H , W = depth . shape xx , yy = np . meshgrid ( np . arange ( W ) , np . arange ( H ) ) X = ( xx - W / 2 ) * depth / DepthCamera . f Y = ( yy - H / 2 ) * depth / DepthCamera . f return np . dstack ( [ X , Y , depth . copy ( ) ] )