docs: public static void depthTo3D(CameraPinholeBrown param , Planar<GrayU8> rgb , GrayU16 depth ,
  								 FastQueue<Point3D_F64> cloud , FastQueueArray_I32 cloudColor ) {
  		cloud.reset();
  		cloudColor.reset();
  
  		RemoveBrownPtoN_F64 p2n = new RemoveBrownPtoN_F64();
  		p2n.setK(param.fx,param.fy,param.skew,param.cx,param.cy).setDistortion(param.radial,param.t1,param.t2);
  
  		Point2D_F64 n = new Point2D_F64();
  
  		GrayU8 colorR = rgb.getBand(0);
  		GrayU8 colorG = rgb.getBand(1);
  		GrayU8 colorB = rgb.getBand(2);
  
  		for( int y = 0; y < depth.height; y++ ) {
  			int index = depth.startIndex + y*depth.stride;
  			for( int x = 0; x < depth.width; x++ ) {
  				int mm = depth.data[index++] & 0xFFFF;
  
  				// skip pixels with no depth information
  				if( mm == 0 )
  					continue;
  
  				// this could all be precomputed to speed it up
  				p2n.compute(x,y,n);
  
  				Point3D_F64 p = cloud.grow();
  				p.z = mm;
  				p.x = n.x*p.z;
  				p.y = n.y*p.z;
  
  				int color[] = cloudColor.grow();
  
  				color[0] = colorR.unsafe_get(x,y);
  				color[1] = colorG.unsafe_get(x,y);
  				color[2] = colorB.unsafe_get(x,y);
  			}
  		}
  	}