Kinect reprojection parameters

Parameters needed to reproject Kinect v2 raw depth map (or IR image), onto color image.

Consists of:

• Intrinsics of color camera (has no distortion)
• Intrinsics of IR/depth camera (with distortion)
• Rigid transformation matrix (rotation and translation) from color camera space to IR camera space
• Optional: 2D polynomial model of absolute depth offset in IR camera space
• Optional: 2D polynomial model of absolute depth offset in reprojected color camera space

See the calibration tutorial for more information.