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Ich would like to generate a 2.5D point cloud of a scene from the camera's perspective with python. Let's say the camera has a rosolution of [n,m] pixel and as a result I want to have n*m 3D vectors each starting at the camera and pointing to the surface of the object. I don't expect any code, but please point me in the right direction.

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    $\begingroup$ you could just render the image and take the Z-Depth. From that Z-Depth image you can easily get everything you want (with some coding of course) $\endgroup$ – HenrikD Dec 8 '18 at 11:35

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