the different definatiion for world coodinate in SDK

the different definatiion for world coodinate in SDK

One definition is below:

http://software.intel.com/sites/landingpage/perceptual_computing/documentation/html/index.html?manuals_map_depth_coordinates_to_color_coordinates.html

in the COLOR_FORMAT_VERTICES, Each pixel contains three 16-bit integers, representing the world coordinates (x, y, and depth value)., refer the link:http://software.intel.com/sites/landingpage/perceptual_computing/documentation/html/, z changes to depth value. where is original? What is the definition for this real world coordinate?

I am confused, which one can be used?

if use COLOR_FORMAT_VERTICES, how can I judge the valid of the depth value? Is it the same method with COLOR_FORMAT_DEPTH? I get the negative depth data, I don't know if it is right.

Thanks

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