Does Point cloud give real x,y,z?

[chandanlal92]

I have a small doubt just for the clarification. I know this has been discussed before. I am finding the pose of some object with respect it kinect2 sensor frame. I am able to map the pixel values located to the x,y,z in the point cloud stream. My doubt is this point cloud data (x,y,z) measurement is true world coordinates or should I still have to do some transformations from calibration data?

[elidhu]

Off topic: How were you able to map the pixel values to the x, y, z in the point cloud?

[chandanlal92]

I am mapping the pixel using the point cloud data[index] index=x+y*cloud->width; cloud[index].x=x; cloud[index].y=y; cloud[index].z=z; My pixels are mapping exactly to the point cloud but the problem is when I try to map the pixel using intrinsic parameters I could not map it in the point cloud . I just need to know with what intrinsic formula qhd/points created.