A simple question concerning the reported Z-coordinates

[MAbdo2]

1) Does the RealSense (D435) report the Z-coordinate (along the Z-Axis) or does it report the distance along the ray (the distance from the lens to the point in the scene)?

2) Is there any setup or configuration parameters that allows the user to get the z-coordinates either along the z-axis or along the ray?

Thanks

[MartyG · Accepted solution]

According to the data sheet for the 400 Series cameras, "the depth pixel value is a measurement from the parallel plane of the imagers and not the absolute range".

The front page of the Librealsense GitHub website has a sample script for getting the depth value of a pixel, in the 'Ready To Hack' section at the bottom of the page.

https://github.com/IntelRealSense/librealsense GitHub - IntelRealSense/librealsense: Intel® RealSense™ SDK