Calibrate Depth Map and Color Map

There is some offset between the color image and depth map. In order to get the depth data, we got some sample images and calibrated them.

Color Image

Depth Image

Calibration

So In order to get the corresponding pixel in the depth image from the color image, we should firstly clip the color image out of the rectangle (52, 30) (626,460), then amplify the coordinates (x, y) by (1/0.9) to get the coordinates(x', y') in the depth image.