Since I don't understand how to get the projection interface working in UtilPipeline, I thought I'll use simple trigonometry calculations to figure out where each point of the pointcloud belongs.
This is where I'm stuck on a very simple issue.
The depth sensor produces an image which has a width of 320 and height of 240 => aspect ratio of 1.333.
However, the camera specs say that the Field of View is the following: 74° x 58° x 87°
Now, to get the the half-field-of-view horizontally and vertically, we calculate:
sin( 74 / 2 ) = 0.60
sin( 58 / 2 ) = 0.48
However 0.60 / 0.48 => aspect ratio of 1.25
Can you tell me how is it possible that the specs say aspect ratio is 1.25 while the generated image is 1.33?