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void ConvertPXCImageToOpenCVMat(PXCImage *inImg, Mat *outImg) {
int cvDataType;
int cvDataWidth;


PXCImage::ImageData data;
inImg->AcquireAccess(PXCImage::ACCESS_READ, &data);
PXCImage::ImageInfo imgInfo = inImg->QueryInfo();

switch (data.format) {
    /* STREAM_TYPE_COLOR */
    case PXCImage::PIXEL_FORMAT_YUY2: /* YUY2 image  */
    case PXCImage::PIXEL_FORMAT_NV12: /* NV12 image */
        throw(0); // Not implemented
    case PXCImage::PIXEL_FORMAT_RGB32: /* BGRA layout on a little-endian machine */
        cvDataType = CV_8UC4;
        cvDataWidth = 4;
        break;
    case PXCImage::PIXEL_FORMAT_RGB24: /* BGR layout on a little-endian machine */
        cvDataType = CV_8UC3;
        cvDataWidth = 3;
        break;
    case PXCImage::PIXEL_FORMAT_Y8:  /* 8-Bit Gray Image, or IR 8-bit */
        cvDataType = CV_8U;
        cvDataWidth = 1;
        break;

    /* STREAM_TYPE_DEPTH */
    case PXCImage::PIXEL_FORMAT_DEPTH: /* 16-bit unsigned integer with precision mm. */
    case PXCImage::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */
        cvDataType = CV_16U;
        cvDataWidth = 2;
        break;
    case PXCImage::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */
        cvDataType = CV_32F;
        cvDataWidth = 4;
        break;

    /* STREAM_TYPE_IR */
    case PXCImage::PIXEL_FORMAT_Y16:          /* 16-Bit Gray Image */
        cvDataType = CV_16U;
        cvDataWidth = 2;
        break;
    case PXCImage::PIXEL_FORMAT_Y8_IR_RELATIVE:    /* Relative IR Image */
        cvDataType = CV_8U;
        cvDataWidth = 1;
        break;
    }

// suppose that no other planes
if (data.planes[1] != NULL) throw(0); // not implemented
// suppose that no sub pixel padding needed
if (data.pitches[0] % cvDataWidth!=0) throw(0); // not implemented

outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);

memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth*sizeof(pxcBYTE));

inImg->ReleaseAccess(&data);
}