Does ZED X provide direct 3D coordinates (X, Y, Z) in millimeters per pixel?

Hardware
1

I’m currently using a monocular RGB camera + LiDAR setup where I detect a target in the image (pixel u, v) and convert it to real-world coordinates using a GSD-based approach with height from LiDAR.

I’m planning to switch to the ZED X camera and want to simplify this pipeline.

From my understanding, ZED provides depth and point cloud data, so instead of using GSD, I should be able to directly get:

(u, v) → (X, Y, Z)

My questions:

  1. Does ZED X directly provide per-pixel 3D coordinates (X, Y, Z) in metric units?

  2. Are these coordinates in meters by default, and can they be configured to millimeters?

  3. Is using retrieve_measure(..., MEASURE.XYZ) the correct way to access these 3D points?