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Changed the explanation for RS2_OPTION_DEPTH_UNITS. The C++ SDK uses metres, not micrometres, and the the minimum depth unit acceptable for the D415 and D435 is 0.0001 in both C++ and RealSense Viewer.
Depth scale is forgotten to be inverted when applied to disparities - disparity 1 corresponds to 1/0.001 = 1000m and not to 0.001m.
Updated Projection in RealSense SDK 2.0 (markdown)
removing references to "librealsense" keyword
Initial page for projection documentation