title: Microsoft Kinect SDK depth data to real world coordinates
body: <p>I'm using the Microsoft Kinect SDK to get the depth and color information from a Kinect and then convert that information into a point cloud. I need the depth information to be in real world coordinates with the centre of the camera as the origin.</p>
  
  <p>I've seen a number of conversion functions but these are apparently for OpenNI and non-Microsoft drivers. I've read that the depth information coming from the Kinect is already in millimetres, and is contained in the 11bits... or something.</p>
  
  <p>How do I convert this bit information into real world coordinates that I can use?</p>
  
  <p>Thanks in advance!</p>