z = depthValue;
x = (color.cols - cameraMatrixColor.at(0,2)) * deptValue/cameraMatrixColor.at(0,0);
y = (color.rows - cameraMatrixColor.at(1,2)) * deptValue/cameraMatrixColor.at(1,1);
x = (color.cols - cameraMatrixColor.at(0,2)) * deptValue/cameraMatrixColor.at(0,0);
y = (color.rows - cameraMatrixColor.at(1,2)) * deptValue/cameraMatrixColor.at(1,1);