def kinect_to_cartesian(kinect_pos, calib):
top_dist = Geometry.distFromPointToLine(kinect_pos, calib.ul, calib.ur)
bot_dist = Geometry.distFromPointToLine(kinect_pos, calib.ul, calib.ur)
left_dist = Geometry.distFromPointToLine(kinect_pos, calib.ul, calib.ur)
right_dist = Geometry.distFromPointToLine(kinect_pos, calib.ul, calib.ur)
h = []
