Kinect Azure Unprojection Matrices

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    jill
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    *reposting again without explicit links

    I am writing a class for the Azure Kinect in your Kinect package in order to use the Azure Kinect with the AR Sandbox. I am trying to figure out the depth and color unprojection matrices; however, I am not an expert in computer vision. I am looking for help with the formulas for these matrices.

    Judging from the other camera classes, I would write these matrices using the focal length and optical center of the camera, as well as the image resolution. The focal length and optical center can be gotten via the Microsoft SDK.

    It appears that the Azure Kinect provides normalized depth values in mm.

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