I am converting 640x400 depth frames to point clouds but have discovered that the camera principles returned by CalibrationHandler are around 640 and 400, near the lower right, rather than the center of the frame, and I have had to halve them, or pass the center as the topLeft, bottomRight parameters to getCameraIntrinsics(), in order to get the correct cartesian point cloud coordinates. What if I were to set the frame size to 1080x720. What values should I be using for the principles then? Can someone point me to some documentation that explains how this works?
