private DepthMap CreateMap(Cluster cluster)
{
var map = new int[(int)cluster.Width + 1, (int)cluster.Height + 1];
foreach (var point in cluster.AllPoints)
{
map[(int)(point.X - cluster.X), (int)(point.Y - cluster.Y)] = (int)point.Z;
}
return new DepthMap(map);
}
}