Hi, I just want to calculate real depth values from depth buffers with mjr_readPixels as follows: #input : z_n is the depth buffer zFar= 10.0 zNear = 0.01 z = z_n *2 -1 z_e = zFar*zNear / ( zFar+zNear - (zFar - zNear)*z ) But it couldn't get the correct depth values. Have you ever guess where this error comes from? Thank you!

Hi, Did you figure out how to extract the correct depth value? I also encountered the same problem. Thanks!