dso_with_saving_pcl
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convert pixel cord into camera cord
is the formula wrong? https://github.com/Neoplanetz/dso_with_saving_pcl/blob/112f00a62739a7bd6f6540cdf0aa15504e26325a/src/IOWrapper/OutputWrapper/SampleOutputWrapper.h#L121C29-L121C66 should it be z = depth;?