By setting DC2 = 2 , you set the output of the camera to range map which in most of the cases is a common way to apply 3D image processing or create a pointcloud afterwards. It is important to understand that all 3D Sensors from AT output uncalibrated 2D range maps with no relation to real world units. However, it is possible to easily get calibrated metric 3D points by applying a number of calibration parameters to this range map. For more information please follow this: https://forum.commonvisionblox.com/t/working-with-3d-cameras-of-automation-technology-in-cvb/532/15