CVPixelBuffer.h defines kCVPixelFormatType_420YpCbCr8BiPlanarVideoRange = '420v', /* Bi-Planar Component Y'CbCr 8-bit 4:2:0, video-range (luma=[16,235] chroma=[16,240]). baseAddr points to a big-endian CVPlanarPixelBufferInfo_YCbCrBiPlanar struct */ kCVPixelFormatType_420YpCbCr10BiPlanarVideoRange = 'x420', /* 2 plane YCbCr10 4:2:0, each 10 bits in the MSBs of 16bits, video-range (luma=[64,940] chroma=[64,960]) */ But when I set above format camera output, and I find the output pixelbuffer's value is exceed the range.I can see [0 -255] for 420YpCbCr8BiPlanarVideoRange and [0,1023] for 420YpCbCr10BiPlanarVideoRange Is it a bug or something wrong of the output?If it is not how can I choose the correct matrix transfer the yuv data to rgb?

I want to know are depth map and RGB image are perfectly aligned(do both have the same principle point)? If yes then how the depth- map is created. The depth map on iphone12 has 256x192 resolution as opposed to an RGB image (1920x1440). I am interested in exact pixel-wise depth. Is it possible to get the raw depth map of 1920x1440 resolution ? How is the depth-map is created at 256 x 192 resolution? Behind the scenes does the pipeline captures it at 1920 x1440 resolution and then resize it to 256x192? I have so many questions as there are no intrinsic, extrinsic, and calibration data given regarding the lidar. I would greatly appreciate it if someone can explain the steps from a computer-vision perspective. Many Thanks