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.
Optical center
The optical center of the Zivid camera relative to the mechanical interface is shown in the mechanical drawings.
Optical axis
The 2D camera and the projector have an angle with respect to the center axis.
