depth png → ply · 8-bit / 16-bit · iphone lidar / realsense / kinect presets · rgb overlay · runs locally
8bit · grayscale · 0..255 · iPhone Depth Camera app, Halide · 16bit-rg · R×256+G · Record3D, Realsense exports · 16bit-r16 · R high byte, G low byte · Kinect SDK, OpenNI
cx / cy are set to image center automatically
pixels outside this range are discarded