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Path	Synopsis
depth_to_color Get the coordinates of a depth pixel in the depth map in the reference frame of the color image $./depth_to_color -conf=/path/to/intrinsics/extrinsic/file X Y Z	Get the coordinates of a depth pixel in the depth map in the reference frame of the color image $./depth_to_color -conf=/path/to/intrinsics/extrinsic/file X Y Z
extrinsic_calibration Given at least 4 corresponding points, and the intrinsic matrices of both cameras, computes the rigid transform (rotation + translation) that would be the extrinsic transformation from camera 1 to camera 2.	Given at least 4 corresponding points, and the intrinsic matrices of both cameras, computes the rigid transform (rotation + translation) that would be the extrinsic transformation from camera 1 to camera 2.