function [ Id, Dd, Kd ] = downscale( I, D, K, level )
% downscale intensity image, depth map and camera intrinsics (recursively)
if(level <= 1) % coarsest pyramid level Id = I; Dd = D; Kd = K; return; end % downscale camera intrinsics % TODO %Kd = ... % downscale intensity image % TODO %Id = ... % downscale depth map % TODO %Dd = ... % recursively downscale on next pyramid level [Id, Dd, Kd] = downscale( Id, Dd, Kd, level - 1); end