Zivid cameras come pre-calibrated from the factory (over several temperatures and iris settings) and are ready to use. The point cloud provided by the camera is calibrated, which means that X, Y and Z are correct according to real scenery. There is a pixel to pixel correspondence for the X, Y and Z matrices and the color image.
Hand eye calibration is often used to calibrate the camera to a robot cell and refers to finding the transformation between coordinate systems. Zivid currently does not have tools for helping customers with this, but information and methods can be found online.