.. _depth-camera-helpers-example:

Depth camera helpers
====================

Use calibrated RGB-D data to parse camera intrinsics, sample depth at a pixel,
and deproject into the ROS optical camera frame. Deprojected points use ``+x``
right, ``+y`` down, and ``+z`` forward.

.. tab-set::
    :sync-group: sdk-language

    .. tab-item:: Python
        :sync: python

        .. literalinclude:: scripts/depth-camera-helpers.py
           :language: python

    .. tab-item:: TypeScript
        :sync: typescript

        .. literalinclude:: scripts/depth-camera-helpers.ts
           :language: typescript