load camParams
load depth_1.mat
im=imread('rgb_image_1.png');
xyz=get_xyz(depth_array(:),[480 640], depth_array(:)~=0,K_ir,a,b);
imrgb=get_rgbd(xyz,im,R12,T12,K_rgb);
figure(1);
subplot(131);imagesc(im);axis image
subplot(132);imagesc(depth_array);axis image
subplot(133);imagesc(imrgb);axis image

