The QueryVertices instruction will map depth to real world coordinates.
If you want to map depth to color too, this post is helpful too.
The BlasterX camera referenced in the discussion's title is a rebranded SR300, so the code listed should be fine for your SR300.
Hi MartyG, thanks for fast reply.
I tried QueryVertices but is very slow for converting the entire depth map, from the QueryVertices documentation i understand that the function should be used only for converting "few points"
Also I don't need the color stream in my project.
There is also ProjectDepthToCamera
I apologize that I cannot provide in-depth help on this question. jb455 is our resident expert on stream programming. I just play the warm-up guy on such questions until he's online..
The SR300 has a fixed factory-set calibration which we can't change (voice your displeasure at that fact here: SR300 Calibration ). So it does use some calibration, but that calibration might not necessarily be correct! That's just the colour-depth image calibration through I suppose. I haven't noticed any problems with the depth calibration (excluding the colour mapping) but I don't need it to be uber-precise (to 1mm is usually enough precision for me). I'd suggest trying it yourself, but if you find the built-in calibration isn't good enough for you, you may have to calibrate yourself then use that calibration to calculate your own real-world coordinates using the pinhole model.
This page in the docs shows you how to obtain the calibration that is used internally if you want to inspect it.