kinect2深度图对齐和三维坐标计算处理

    IDepthFrame*frame1;
    hResult = depthreader->AcquireLatestFrame(&frame1);
    Mat depth_16bit(424, 512, CV_16UC1);//深度数据，需要赋值，这里假设已赋值
    Mat color(height, width, CV_8UC4);//彩色图，需要赋值，这里假设已赋值
    Mat coordinateMapperMat(height_d, width_d, CV_8UC4);//对齐后彩色图的存储
    
    if (SUCCEEDED(hResult))
    {
    ICoordinateMapper* pCoordinateMapper;
    kinect->get_CoordinateMapper(&pCoordinateMapper);
    
    hResult = pCoordinateMapper->MapDepthFrameToColorSpace(width_d * height_d, reinterpret_cast<UINT16*>(depth_16bit.data), width_d * height_d, &MappingMatrix[0])