title: kinect V2 get real xyz points from raw depth image in matlab without visionKinectDepthToSkeleton or depthToPointCloud or pcfromkinect
body: <p>There are many ways to get real xyz from raw depth image like  vision.internal.visionKinectDepthToSkeleton or depthToPointCloud or pcfromkinect .<br />
  The problem is that it's not clear how these functions work exactly . All these functions use vision.internal.visionKinectDepthToSkeleton and visionKinectDepthToSkeleton is a .p file and encrypted .<br />
  Why I want to know how do they work ? Cause I want to write an Inverse function for them that get the xyz points and convert it to 424*512 depth image. <br />
  In kinect V1 , there is a clear formula for converting raw depth image data to xyz but I couldn't find any working solution for kinect V2.<br />
  It's better for me working in matlab environment but feel free using anything you want.<br/>
  Thanks in advance !</p>