Where precisely is the physical origin of the 3D coordinate system for the RealSense SR300? Are the 3D values obtained from the VGA camera, IR camera, or somewhere in between?
Documentation on the RealSense coordinate system says that the origin is at the center of the depth camera.
"The coordinates are 3D coordinates (x,y,z). The origin (0,0,0) is at the center of the depth camera. Values are in meters, if not explicitly specified."