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Depth Sensor Calibration (Creative Senz3D) 
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Depth Intrinsics K_d: 
[224.502,       0,     160;
       0, 230.494,     120;
       0,       0,       1]
	   
Color Intrinsics K_c:
[587.45209,   0, 325;
   0, 600.67456, 249;
   0,   0,   1]
	   
Color Extrinsics E: 
[0.9999,    0.0034,    0.0161, 19.0473;
   -0.0033,    1.0000,   -0.0079,  -1.8514;
   -0.0162,    0.0079,    0.9998,  -4.7501]
   
   
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Generating a Pointcloud
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You can use these matrices to generate a pointcloud:
x_2D = P_d * X_3D, P = K_d[R|t] with R = I and t = 0

Here *_h are homogeneous coordinates.
In simplified form X_3D = K^(-1) x_2D.


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Converting Coordinate Systems
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You can use these matrices to convert points between the depth and color image plane:
uv_color_h = K_c * E * K_d^(-1) * uv_depth_h

Note that uv_color_h needs to be normalized s.t. the last component is 1 to obtain proper uv coordinates. 
Here *_h are homogeneous coordinates.