I was trying to *unproject* a depth image into an OpenGL and was bit surprised to find that my choice of near and far plane values affected the influence of my "window Z" values used to unproject. This really shouldn't have been a surprise when considering how the perspective matrix is formed. If you're using `gluPersepctive`

then your projection matrix `P`

is:

```
P = / x 0 0 0 \
| 0 y 0 0 |
| 0 0 (f+n)/(n-f) 2fn/(n-f) |
\ 0 0 -1 0 /
```

where `x`

and `y`

control the field of view angle and aspect ratio, and `f`

and `n`

are the far and near clipping depths respectively.

The projection of a world point **z** = (0 0 z 1)^{T} is then given by computing `p = P * z`

then applying perspective division `q = p / p.w`

. Despite the **incorect documentation, gluProject** then computes a window "depth" via

`winZ = (q.z+1)/2`

.Following these formulae we can derive a relationship between `winZ`

and the z-coordinate of our point on the z-axis. Namely,

```
winZ = (p.z/p.w+1)/2
p.z/p.w = 2*winZ-1
p.w = -z
p.z = z*(f+n)/(n-f) + 2fn/(n-f)
(z(f+n)/(n-f) + 2fn/(n-f))/(-z) = 2winZ-1
z = fn/(f*winZ-n*winZ-f)
```

or equivalently

```
winZ = f(n+z)/((f-n)z)
```

Notably, when `z=-f`

then `winZ = 1`

and when `z=-n`

then `winZ = 0`

. In between, we have an inverse relationship: