直接贴上代码

//求得对应的相机参数
	k4a_transformation_t transformation = k4a_transformation_create(&sensor_calibration);
	float c_cx = sensor_calibration.color_camera_calibration.intrinsics.parameters.v[0];
	float c_cy = sensor_calibration.color_camera_calibration.intrinsics.parameters.v[1];
	float c_fx = sensor_calibration.color_camera_calibration.intrinsics.parameters.v[2];
	float c_fy = sensor_calibration.color_camera_calibration.intrinsics.parameters.v[3];

//根据对应的相机参数，推断出某一点对应的三维坐标点
				ushort d = depthToColor.ptr<ushort>(y)[x];
				double z = float(d) / 1000;
				double x = (x- c_cx) * z / c_fx;
				double y = (y- c_cy) * z / c_fy;