Azure Kinect现实世界从x，y像素和深度进行坐标

如何解决Azure Kinect现实世界从x，y像素和深度进行坐标

基于this question，我正在尝试将Azure Kinect sdk给定的x和y像素转换为以毫秒为单位的真实坐标。我正在使用以下python代码：

VRES = 720  # vertical resolution of the image in pixels
HRES = 1280  # horizontal resolution of the image in pixels
VFOV = 120  # vertical field of view of the camera in degrees
HFOV = 120  # horizontal field of view of the camera in degrees

def __init__(self,x,y,depth):
    self.z = depth
    self.x = int((2 * sin(pi * self.VFOV / 360) * depth * y) / self.VRES)
    self.y = int((2 * sin(pi * self.HFOV / 360) * depth * x) / self.HRES)

使用的Kinect配置为：

    self._config = pyk4a.Configuration()
    self._config.depth_mode = pyk4a.K4A_DEPTH_MODE_WFOV_2X2BINNED
    self._config.color_resolution = pyk4a.K4A_COLOR_RESOLUTION_720P
    self._config.camera_fps = pyk4a.K4A_FRAMES_PER_SECOND_30
    self._config.color_format = pyk4a.K4A_IMAGE_FORMAT_COLOR_BGRA32
    self._config.synchronized_images_only = True

从here中，我发现FOV应为120°x 120°，而720p图像应为1280x720。 这种计算有什么问题？