Finding the XYZ real world coordinates of the Kinect for Windows V2

Question

Hi Everyone;
I am new to Kinect development and this might be sort of a basic question but I searched online and still confused about the matter.
So I have a depth image that I obtained from the Kinect for windows V2 and through some algorithm that I developed on MATLAB, I was able to output the Z distance in mm.
So now I want to have the X,Y real world coordinates as well. 
So to do that I am using the following equations that I found for the old system:
 x_world = (x_screen - c_x) * B/f_x;
 y_world = (y_screen - c_y) * B/f_y;
where x_screen is the midpoint of the IR camera ( I am using the IR stream=512/2=256) and the y_screen (424/2=412)
B is my distance in Zmm
F_x and F_y is the focal length of the lens in x n y direction that I obtained through my own calibration.
So am I doing it correctly?
Is there any way I can use to double check the results I am getting?
Thanks;
Ali

Answer 1

You can use the coordinate mapper as this will take into account the camera intrinsics:
http://msdn.microsoft.com/en-us/library/microsoft.kinect.kinect.icoordinatemapper.mapdepthpointstocameraspace.aspx
http://msdn.microsoft.com/en-us/library/windowspreview.kinect.coordinatemapper.mapdepthframetocameraspace.aspx
Carmine Sirignano - MSFT