Camera Coordinate System
Zivid point clouds are given relative to the Zivid camera right-hand coordinate system. The origin of this coordinate system is fixed at the optical center of the Zivid imager lens (internal 2D camera). The x-axis points right towards the projector, the y-axis points down, and the z-axis points outward.
The optical center of the Zivid camera relative to the mechanical interface is shown in the mechanical drawings.