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  1. Device info:
  2. Name : Intel RealSense D435I
  3. Serial Number : 844212071877
  4. Firmware Version : 05.11.06.200
  5. 255.255.255.255
  6. Recommended Firmware Version : 05.10.03.00
  7. Physical Port : \\?\usb#vid_8086&pid_0b3a&mi_03#6&37e148de&0&0003#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
  8. Debug Op Code : 15
  9. Advanced Mode : YES
  10. Product Id : 0B3A
  11. Usb Type Descriptor : 3.2
  12.  
  13. Stream Profiles supported by Stereo Module
  14. Supported modes:
  15. stream resolution fps format
  16. Infrared 2 1280x800 @ 30Hz Y8
  17. Infrared 1 1280x800 @ 30Hz Y8
  18. Infrared 1 1280x800 @ 25Hz Y16
  19. Infrared 2 1280x800 @ 25Hz Y16
  20. Infrared 2 1280x800 @ 15Hz Y16
  21. Infrared 1 1280x800 @ 15Hz Y16
  22. Infrared 2 1280x800 @ 15Hz Y8
  23. Infrared 1 1280x800 @ 15Hz Y8
  24. Infrared 1 1280x720 @ 30Hz Y8
  25. Infrared 2 1280x720 @ 30Hz Y8
  26. Infrared 2 1280x720 @ 15Hz Y8
  27. Infrared 1 1280x720 @ 15Hz Y8
  28. Infrared 2 1280x720 @ 6Hz Y8
  29. Infrared 1 1280x720 @ 6Hz Y8
  30. Infrared 1 848x480 @ 90Hz Y8
  31. Infrared 2 848x480 @ 90Hz Y8
  32. Infrared 1 848x480 @ 60Hz Y8
  33. Infrared 2 848x480 @ 60Hz Y8
  34. Infrared 1 848x480 @ 30Hz Y8
  35. Infrared 2 848x480 @ 30Hz Y8
  36. Infrared 1 848x480 @ 15Hz Y8
  37. Infrared 2 848x480 @ 15Hz Y8
  38. Infrared 2 848x480 @ 6Hz Y8
  39. Infrared 1 848x480 @ 6Hz Y8
  40. Infrared 2 848x100 @ 100Hz Y8
  41. Infrared 1 848x100 @ 100Hz Y8
  42. Infrared 1 640x480 @ 90Hz Y8
  43. Infrared 2 640x480 @ 90Hz Y8
  44. Infrared 2 640x480 @ 60Hz Y8
  45. Infrared 1 640x480 @ 60Hz Y8
  46. Infrared 2 640x480 @ 30Hz Y8
  47. Infrared 1 640x480 @ 30Hz Y8
  48. Infrared 2 640x480 @ 15Hz Y8
  49. Infrared 1 640x480 @ 15Hz Y8
  50. Infrared 2 640x480 @ 6Hz Y8
  51. Infrared 1 640x480 @ 6Hz Y8
  52. Infrared 1 640x400 @ 25Hz Y16
  53. Infrared 2 640x400 @ 25Hz Y16
  54. Infrared 1 640x400 @ 15Hz Y16
  55. Infrared 2 640x400 @ 15Hz Y16
  56. Infrared 2 640x360 @ 90Hz Y8
  57. Infrared 1 640x360 @ 90Hz Y8
  58. Infrared 1 640x360 @ 60Hz Y8
  59. Infrared 2 640x360 @ 60Hz Y8
  60. Infrared 1 640x360 @ 30Hz Y8
  61. Infrared 2 640x360 @ 30Hz Y8
  62. Infrared 2 640x360 @ 15Hz Y8
  63. Infrared 1 640x360 @ 15Hz Y8
  64. Infrared 1 640x360 @ 6Hz Y8
  65. Infrared 2 640x360 @ 6Hz Y8
  66. Infrared 2 480x270 @ 90Hz Y8
  67. Infrared 1 480x270 @ 90Hz Y8
  68. Infrared 2 480x270 @ 60Hz Y8
  69. Infrared 1 480x270 @ 60Hz Y8
  70. Infrared 2 480x270 @ 30Hz Y8
  71. Infrared 1 480x270 @ 30Hz Y8
  72. Infrared 2 480x270 @ 15Hz Y8
  73. Infrared 1 480x270 @ 15Hz Y8
  74. Infrared 2 480x270 @ 6Hz Y8
  75. Infrared 1 480x270 @ 6Hz Y8
  76. Infrared 2 424x240 @ 90Hz Y8
  77. Infrared 1 424x240 @ 90Hz Y8
  78. Infrared 1 424x240 @ 60Hz Y8
  79. Infrared 2 424x240 @ 60Hz Y8
  80. Infrared 2 424x240 @ 30Hz Y8
  81. Infrared 1 424x240 @ 30Hz Y8
  82. Infrared 2 424x240 @ 15Hz Y8
  83. Infrared 1 424x240 @ 15Hz Y8
  84. Infrared 2 424x240 @ 6Hz Y8
  85. Infrared 1 424x240 @ 6Hz Y8
  86. Depth 1280x720 @ 30Hz Z16
  87. Depth 1280x720 @ 15Hz Z16
  88. Depth 1280x720 @ 6Hz Z16
  89. Depth 848x480 @ 90Hz Z16
  90. Depth 848x480 @ 60Hz Z16
  91. Depth 848x480 @ 30Hz Z16
  92. Depth 848x480 @ 15Hz Z16
  93. Depth 848x480 @ 6Hz Z16
  94. Depth 848x100 @ 100Hz Z16
  95. Depth 640x480 @ 90Hz Z16
  96. Depth 640x480 @ 60Hz Z16
  97. Depth 640x480 @ 30Hz Z16
  98. Depth 640x480 @ 15Hz Z16
  99. Depth 640x480 @ 6Hz Z16
  100. Depth 640x360 @ 90Hz Z16
  101. Depth 640x360 @ 60Hz Z16
  102. Depth 640x360 @ 30Hz Z16
  103. Depth 640x360 @ 15Hz Z16
  104. Depth 640x360 @ 6Hz Z16
  105. Depth 480x270 @ 90Hz Z16
  106. Depth 480x270 @ 60Hz Z16
  107. Depth 480x270 @ 30Hz Z16
  108. Depth 480x270 @ 15Hz Z16
  109. Depth 480x270 @ 6Hz Z16
  110. Depth 424x240 @ 90Hz Z16
  111. Depth 424x240 @ 60Hz Z16
  112. Depth 424x240 @ 30Hz Z16
  113. Depth 424x240 @ 15Hz Z16
  114. Depth 424x240 @ 6Hz Z16
  115.  
  116. Stream Profiles supported by RGB Camera
  117. Supported modes:
  118. stream resolution fps format
  119. Color 1920x1080 @ 30Hz RGB8
  120. Color 1920x1080 @ 30Hz RAW16
  121. Color 1920x1080 @ 30Hz Y16
  122. Color 1920x1080 @ 30Hz BGRA8
  123. Color 1920x1080 @ 30Hz RGBA8
  124. Color 1920x1080 @ 30Hz BGR8
  125. Color 1920x1080 @ 30Hz YUYV
  126. Color 1920x1080 @ 15Hz RGB8
  127. Color 1920x1080 @ 15Hz Y16
  128. Color 1920x1080 @ 15Hz BGRA8
  129. Color 1920x1080 @ 15Hz RGBA8
  130. Color 1920x1080 @ 15Hz BGR8
  131. Color 1920x1080 @ 15Hz YUYV
  132. Color 1920x1080 @ 6Hz RGB8
  133. Color 1920x1080 @ 6Hz Y16
  134. Color 1920x1080 @ 6Hz BGRA8
  135. Color 1920x1080 @ 6Hz RGBA8
  136. Color 1920x1080 @ 6Hz BGR8
  137. Color 1920x1080 @ 6Hz YUYV
  138. Color 1280x720 @ 30Hz RGB8
  139. Color 1280x720 @ 30Hz Y16
  140. Color 1280x720 @ 30Hz BGRA8
  141. Color 1280x720 @ 30Hz RGBA8
  142. Color 1280x720 @ 30Hz BGR8
  143. Color 1280x720 @ 30Hz YUYV
  144. Color 1280x720 @ 15Hz RGB8
  145. Color 1280x720 @ 15Hz Y16
  146. Color 1280x720 @ 15Hz BGRA8
  147. Color 1280x720 @ 15Hz RGBA8
  148. Color 1280x720 @ 15Hz BGR8
  149. Color 1280x720 @ 15Hz YUYV
  150. Color 1280x720 @ 6Hz RGB8
  151. Color 1280x720 @ 6Hz Y16
  152. Color 1280x720 @ 6Hz BGRA8
  153. Color 1280x720 @ 6Hz RGBA8
  154. Color 1280x720 @ 6Hz BGR8
  155. Color 1280x720 @ 6Hz YUYV
  156. Color 960x540 @ 60Hz RGB8
  157. Color 960x540 @ 60Hz Y16
  158. Color 960x540 @ 60Hz BGRA8
  159. Color 960x540 @ 60Hz RGBA8
  160. Color 960x540 @ 60Hz BGR8
  161. Color 960x540 @ 60Hz YUYV
  162. Color 960x540 @ 30Hz RGB8
  163. Color 960x540 @ 30Hz Y16
  164. Color 960x540 @ 30Hz BGRA8
  165. Color 960x540 @ 30Hz RGBA8
  166. Color 960x540 @ 30Hz BGR8
  167. Color 960x540 @ 30Hz YUYV
  168. Color 960x540 @ 15Hz RGB8
  169. Color 960x540 @ 15Hz Y16
  170. Color 960x540 @ 15Hz BGRA8
  171. Color 960x540 @ 15Hz RGBA8
  172. Color 960x540 @ 15Hz BGR8
  173. Color 960x540 @ 15Hz YUYV
  174. Color 960x540 @ 6Hz RGB8
  175. Color 960x540 @ 6Hz Y16
  176. Color 960x540 @ 6Hz BGRA8
  177. Color 960x540 @ 6Hz RGBA8
  178. Color 960x540 @ 6Hz BGR8
  179. Color 960x540 @ 6Hz YUYV
  180. Color 848x480 @ 60Hz RGB8
  181. Color 848x480 @ 60Hz Y16
  182. Color 848x480 @ 60Hz BGRA8
  183. Color 848x480 @ 60Hz RGBA8
  184. Color 848x480 @ 60Hz BGR8
  185. Color 848x480 @ 60Hz YUYV
  186. Color 848x480 @ 30Hz RGB8
  187. Color 848x480 @ 30Hz Y16
  188. Color 848x480 @ 30Hz BGRA8
  189. Color 848x480 @ 30Hz RGBA8
  190. Color 848x480 @ 30Hz BGR8
  191. Color 848x480 @ 30Hz YUYV
  192. Color 848x480 @ 15Hz RGB8
  193. Color 848x480 @ 15Hz Y16
  194. Color 848x480 @ 15Hz BGRA8
  195. Color 848x480 @ 15Hz RGBA8
  196. Color 848x480 @ 15Hz BGR8
  197. Color 848x480 @ 15Hz YUYV
  198. Color 848x480 @ 6Hz RGB8
  199. Color 848x480 @ 6Hz Y16
  200. Color 848x480 @ 6Hz BGRA8
  201. Color 848x480 @ 6Hz RGBA8
  202. Color 848x480 @ 6Hz BGR8
  203. Color 848x480 @ 6Hz YUYV
  204. Color 640x480 @ 60Hz RGB8
  205. Color 640x480 @ 60Hz Y16
  206. Color 640x480 @ 60Hz BGRA8
  207. Color 640x480 @ 60Hz RGBA8
  208. Color 640x480 @ 60Hz BGR8
  209. Color 640x480 @ 60Hz YUYV
  210. Color 640x480 @ 30Hz RGB8
  211. Color 640x480 @ 30Hz Y16
  212. Color 640x480 @ 30Hz BGRA8
  213. Color 640x480 @ 30Hz RGBA8
  214. Color 640x480 @ 30Hz BGR8
  215. Color 640x480 @ 30Hz YUYV
  216. Color 640x480 @ 15Hz RGB8
  217. Color 640x480 @ 15Hz Y16
  218. Color 640x480 @ 15Hz BGRA8
  219. Color 640x480 @ 15Hz RGBA8
  220. Color 640x480 @ 15Hz BGR8
  221. Color 640x480 @ 15Hz YUYV
  222. Color 640x480 @ 6Hz RGB8
  223. Color 640x480 @ 6Hz Y16
  224. Color 640x480 @ 6Hz BGRA8
  225. Color 640x480 @ 6Hz RGBA8
  226. Color 640x480 @ 6Hz BGR8
  227. Color 640x480 @ 6Hz YUYV
  228. Color 640x360 @ 60Hz RGB8
  229. Color 640x360 @ 60Hz Y16
  230. Color 640x360 @ 60Hz BGRA8
  231. Color 640x360 @ 60Hz RGBA8
  232. Color 640x360 @ 60Hz BGR8
  233. Color 640x360 @ 60Hz YUYV
  234. Color 640x360 @ 30Hz RGB8
  235. Color 640x360 @ 30Hz Y16
  236. Color 640x360 @ 30Hz BGRA8
  237. Color 640x360 @ 30Hz RGBA8
  238. Color 640x360 @ 30Hz BGR8
  239. Color 640x360 @ 30Hz YUYV
  240. Color 640x360 @ 15Hz RGB8
  241. Color 640x360 @ 15Hz Y16
  242. Color 640x360 @ 15Hz BGRA8
  243. Color 640x360 @ 15Hz RGBA8
  244. Color 640x360 @ 15Hz BGR8
  245. Color 640x360 @ 15Hz YUYV
  246. Color 640x360 @ 6Hz RGB8
  247. Color 640x360 @ 6Hz Y16
  248. Color 640x360 @ 6Hz BGRA8
  249. Color 640x360 @ 6Hz RGBA8
  250. Color 640x360 @ 6Hz BGR8
  251. Color 640x360 @ 6Hz YUYV
  252. Color 424x240 @ 60Hz RGB8
  253. Color 424x240 @ 60Hz Y16
  254. Color 424x240 @ 60Hz BGRA8
  255. Color 424x240 @ 60Hz RGBA8
  256. Color 424x240 @ 60Hz BGR8
  257. Color 424x240 @ 60Hz YUYV
  258. Color 424x240 @ 30Hz RGB8
  259. Color 424x240 @ 30Hz Y16
  260. Color 424x240 @ 30Hz BGRA8
  261. Color 424x240 @ 30Hz RGBA8
  262. Color 424x240 @ 30Hz BGR8
  263. Color 424x240 @ 30Hz YUYV
  264. Color 424x240 @ 15Hz RGB8
  265. Color 424x240 @ 15Hz Y16
  266. Color 424x240 @ 15Hz BGRA8
  267. Color 424x240 @ 15Hz RGBA8
  268. Color 424x240 @ 15Hz BGR8
  269. Color 424x240 @ 15Hz YUYV
  270. Color 424x240 @ 6Hz RGB8
  271. Color 424x240 @ 6Hz Y16
  272. Color 424x240 @ 6Hz BGRA8
  273. Color 424x240 @ 6Hz RGBA8
  274. Color 424x240 @ 6Hz BGR8
  275. Color 424x240 @ 6Hz YUYV
  276. Color 320x240 @ 60Hz RGB8
  277. Color 320x240 @ 60Hz Y16
  278. Color 320x240 @ 60Hz BGRA8
  279. Color 320x240 @ 60Hz RGBA8
  280. Color 320x240 @ 60Hz BGR8
  281. Color 320x240 @ 60Hz YUYV
  282. Color 320x240 @ 30Hz RGB8
  283. Color 320x240 @ 30Hz Y16
  284. Color 320x240 @ 30Hz BGRA8
  285. Color 320x240 @ 30Hz RGBA8
  286. Color 320x240 @ 30Hz BGR8
  287. Color 320x240 @ 30Hz YUYV
  288. Color 320x240 @ 6Hz RGB8
  289. Color 320x240 @ 6Hz Y16
  290. Color 320x240 @ 6Hz BGRA8
  291. Color 320x240 @ 6Hz RGBA8
  292. Color 320x240 @ 6Hz BGR8
  293. Color 320x240 @ 6Hz YUYV
  294. Color 320x180 @ 60Hz RGB8
  295. Color 320x180 @ 60Hz Y16
  296. Color 320x180 @ 60Hz BGRA8
  297. Color 320x180 @ 60Hz RGBA8
  298. Color 320x180 @ 60Hz BGR8
  299. Color 320x180 @ 60Hz YUYV
  300. Color 320x180 @ 30Hz RGB8
  301. Color 320x180 @ 30Hz Y16
  302. Color 320x180 @ 30Hz BGRA8
  303. Color 320x180 @ 30Hz RGBA8
  304. Color 320x180 @ 30Hz BGR8
  305. Color 320x180 @ 30Hz YUYV
  306. Color 320x180 @ 6Hz RGB8
  307. Color 320x180 @ 6Hz Y16
  308. Color 320x180 @ 6Hz BGRA8
  309. Color 320x180 @ 6Hz RGBA8
  310. Color 320x180 @ 6Hz BGR8
  311. Color 320x180 @ 6Hz YUYV
  312.  
  313. Stream Profiles supported by Motion Module
  314. Supported modes:
  315. stream resolution fps format
  316. Gyro N/A @ 200Hz MOTION_XYZ32F
  317. Gyro N/A @ 400Hz MOTION_XYZ32F
  318. Accel N/A @ 63Hz MOTION_XYZ32F
  319. Accel N/A @ 250Hz MOTION_XYZ32F
  320.  
  321. Provided Intrinsic:
  322. Intrinsic of "Depth" / 424x240 / {Z16}
  323. Width: 424
  324. Height: 240
  325. PPX: 212.462524414063
  326. PPY: 116.338638305664
  327. Fx: 212.415893554688
  328. Fy: 212.415893554688
  329. Distortion: Brown Conrady
  330. Coeffs: 0 0 0 0 0
  331.  
  332. Intrinsic of "Depth" / 480x270 / {Z16}
  333. Width: 480
  334. Height: 270
  335. PPX: 240.523620605469
  336. PPY: 130.855056762695
  337. Fx: 240.470825195313
  338. Fy: 240.470825195313
  339. Distortion: Brown Conrady
  340. Coeffs: 0 0 0 0 0
  341.  
  342. Intrinsic of "Depth" / 640x360 / {Z16}
  343. Width: 640
  344. Height: 360
  345. PPX: 320.698150634766
  346. PPY: 174.473419189453
  347. Fx: 320.627777099609
  348. Fy: 320.627777099609
  349. Distortion: Brown Conrady
  350. Coeffs: 0 0 0 0 0
  351.  
  352. Intrinsic of "Depth" / 640x480 / {Z16}
  353. Width: 640
  354. Height: 480
  355. PPX: 320.837799072266
  356. PPY: 233.368103027344
  357. Fx: 384.753326416016
  358. Fy: 384.753326416016
  359. Distortion: Brown Conrady
  360. Coeffs: 0 0 0 0 0
  361.  
  362. Intrinsic of "Depth" / 848x100 / {Z16}
  363. Width: 848
  364. Height: 100
  365. PPX: 424.925048828125
  366. PPY: 42.6772766113281
  367. Fx: 424.831787109375
  368. Fy: 424.831787109375
  369. Distortion: Brown Conrady
  370. Coeffs: 0 0 0 0 0
  371.  
  372. Intrinsic of "Depth" / 848x480 / {Z16}
  373. Width: 848
  374. Height: 480
  375. PPX: 424.925048828125
  376. PPY: 232.677276611328
  377. Fx: 424.831787109375
  378. Fy: 424.831787109375
  379. Distortion: Brown Conrady
  380. Coeffs: 0 0 0 0 0
  381.  
  382. Intrinsic of "Depth" / 1280x720 / {Z16}
  383. Width: 1280
  384. Height: 720
  385. PPX: 641.396301269531
  386. PPY: 348.946838378906
  387. Fx: 641.255554199219
  388. Fy: 641.255554199219
  389. Distortion: Brown Conrady
  390. Coeffs: 0 0 0 0 0
  391.  
  392. Intrinsic of "Color" / 320x180 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  393. Width: 320
  394. Height: 180
  395. PPX: 157.844299316406
  396. PPY: 89.1665802001953
  397. Fx: 229.652008056641
  398. Fy: 228.993255615234
  399. Distortion: Brown Conrady
  400. Coeffs: 0 0 0 0 0
  401.  
  402. Intrinsic of "Color" / 320x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  403. Width: 320
  404. Height: 240
  405. PPX: 157.125732421875
  406. PPY: 118.888778686523
  407. Fx: 306.202667236328
  408. Fy: 305.324340820313
  409. Distortion: Brown Conrady
  410. Coeffs: 0 0 0 0 0
  411.  
  412. Intrinsic of "Color" / 424x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  413. Width: 424
  414. Height: 240
  415. PPX: 209.125732421875
  416. PPY: 118.888778686523
  417. Fx: 306.202667236328
  418. Fy: 305.324340820313
  419. Distortion: Brown Conrady
  420. Coeffs: 0 0 0 0 0
  421.  
  422. Intrinsic of "Color" / 640x360 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  423. Width: 640
  424. Height: 360
  425. PPX: 315.688598632813
  426. PPY: 178.333160400391
  427. Fx: 459.304016113281
  428. Fy: 457.986511230469
  429. Distortion: Brown Conrady
  430. Coeffs: 0 0 0 0 0
  431.  
  432. Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  433. Width: 640
  434. Height: 480
  435. PPX: 314.25146484375
  436. PPY: 237.777557373047
  437. Fx: 612.405334472656
  438. Fy: 610.648681640625
  439. Distortion: Brown Conrady
  440. Coeffs: 0 0 0 0 0
  441.  
  442. Intrinsic of "Color" / 848x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  443. Width: 848
  444. Height: 480
  445. PPX: 418.25146484375
  446. PPY: 237.777557373047
  447. Fx: 612.405334472656
  448. Fy: 610.648681640625
  449. Distortion: Brown Conrady
  450. Coeffs: 0 0 0 0 0
  451.  
  452. Intrinsic of "Color" / 960x540 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  453. Width: 960
  454. Height: 540
  455. PPX: 473.532928466797
  456. PPY: 267.499755859375
  457. Fx: 688.955993652344
  458. Fy: 686.979736328125
  459. Distortion: Brown Conrady
  460. Coeffs: 0 0 0 0 0
  461.  
  462. Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  463. Width: 1280
  464. Height: 720
  465. PPX: 631.377197265625
  466. PPY: 356.666320800781
  467. Fx: 918.608032226563
  468. Fy: 915.973022460938
  469. Distortion: Brown Conrady
  470. Coeffs: 0 0 0 0 0
  471.  
  472. Intrinsic of "Color" / 1920x1080 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16/RAW16}
  473. Width: 1920
  474. Height: 1080
  475. PPX: 947.065856933594
  476. PPY: 534.99951171875
  477. Fx: 1377.91198730469
  478. Fy: 1373.95947265625
  479. Distortion: Brown Conrady
  480. Coeffs: 0 0 0 0 0
  481.  
  482. Intrinsic of "Infrared 1" / 424x240 / {Y8}
  483. Width: 424
  484. Height: 240
  485. PPX: 212.462524414063
  486. PPY: 116.338638305664
  487. Fx: 212.415893554688
  488. Fy: 212.415893554688
  489. Distortion: Brown Conrady
  490. Coeffs: 0 0 0 0 0
  491.  
  492. Intrinsic of "Infrared 1" / 480x270 / {Y8}
  493. Width: 480
  494. Height: 270
  495. PPX: 240.523620605469
  496. PPY: 130.855056762695
  497. Fx: 240.470825195313
  498. Fy: 240.470825195313
  499. Distortion: Brown Conrady
  500. Coeffs: 0 0 0 0 0
  501.  
  502. Intrinsic of "Infrared 1" / 640x360 / {Y8}
  503. Width: 640
  504. Height: 360
  505. PPX: 320.698150634766
  506. PPY: 174.473419189453
  507. Fx: 320.627777099609
  508. Fy: 320.627777099609
  509. Distortion: Brown Conrady
  510. Coeffs: 0 0 0 0 0
  511.  
  512. Intrinsic of "Infrared 1" / 640x480 / {Y8}
  513. Width: 640
  514. Height: 480
  515. PPX: 320.837799072266
  516. PPY: 233.368103027344
  517. Fx: 384.753326416016
  518. Fy: 384.753326416016
  519. Distortion: Brown Conrady
  520. Coeffs: 0 0 0 0 0
  521.  
  522. Intrinsic of "Infrared 1" / 848x100 / {Y8}
  523. Width: 848
  524. Height: 100
  525. PPX: 424.925048828125
  526. PPY: 42.6772766113281
  527. Fx: 424.831787109375
  528. Fy: 424.831787109375
  529. Distortion: Brown Conrady
  530. Coeffs: 0 0 0 0 0
  531.  
  532. Intrinsic of "Infrared 1" / 848x480 / {Y8}
  533. Width: 848
  534. Height: 480
  535. PPX: 424.925048828125
  536. PPY: 232.677276611328
  537. Fx: 424.831787109375
  538. Fy: 424.831787109375
  539. Distortion: Brown Conrady
  540. Coeffs: 0 0 0 0 0
  541.  
  542. Intrinsic of "Infrared 1" / 1280x720 / {Y8}
  543. Width: 1280
  544. Height: 720
  545. PPX: 641.396301269531
  546. PPY: 348.946838378906
  547. Fx: 641.255554199219
  548. Fy: 641.255554199219
  549. Distortion: Brown Conrady
  550. Coeffs: 0 0 0 0 0
  551.  
  552. Intrinsic of "Infrared 1" / 1280x800 / {Y8}
  553. Width: 1280
  554. Height: 800
  555. PPX: 641.396301269531
  556. PPY: 388.946838378906
  557. Fx: 641.255554199219
  558. Fy: 641.255554199219
  559. Distortion: Brown Conrady
  560. Coeffs: 0 0 0 0 0
  561.  
  562. Intrinsic of "Infrared 2" / 424x240 / {Y8}
  563. Width: 424
  564. Height: 240
  565. PPX: 212.462524414063
  566. PPY: 116.338638305664
  567. Fx: 212.415893554688
  568. Fy: 212.415893554688
  569. Distortion: Brown Conrady
  570. Coeffs: 0 0 0 0 0
  571.  
  572. Intrinsic of "Infrared 2" / 480x270 / {Y8}
  573. Width: 480
  574. Height: 270
  575. PPX: 240.523620605469
  576. PPY: 130.855056762695
  577. Fx: 240.470825195313
  578. Fy: 240.470825195313
  579. Distortion: Brown Conrady
  580. Coeffs: 0 0 0 0 0
  581.  
  582. Intrinsic of "Infrared 2" / 640x360 / {Y8}
  583. Width: 640
  584. Height: 360
  585. PPX: 320.698150634766
  586. PPY: 174.473419189453
  587. Fx: 320.627777099609
  588. Fy: 320.627777099609
  589. Distortion: Brown Conrady
  590. Coeffs: 0 0 0 0 0
  591.  
  592. Intrinsic of "Infrared 2" / 640x480 / {Y8}
  593. Width: 640
  594. Height: 480
  595. PPX: 320.837799072266
  596. PPY: 233.368103027344
  597. Fx: 384.753326416016
  598. Fy: 384.753326416016
  599. Distortion: Brown Conrady
  600. Coeffs: 0 0 0 0 0
  601.  
  602. Intrinsic of "Infrared 2" / 848x100 / {Y8}
  603. Width: 848
  604. Height: 100
  605. PPX: 424.925048828125
  606. PPY: 42.6772766113281
  607. Fx: 424.831787109375
  608. Fy: 424.831787109375
  609. Distortion: Brown Conrady
  610. Coeffs: 0 0 0 0 0
  611.  
  612. Intrinsic of "Infrared 2" / 848x480 / {Y8}
  613. Width: 848
  614. Height: 480
  615. PPX: 424.925048828125
  616. PPY: 232.677276611328
  617. Fx: 424.831787109375
  618. Fy: 424.831787109375
  619. Distortion: Brown Conrady
  620. Coeffs: 0 0 0 0 0
  621.  
  622. Intrinsic of "Infrared 2" / 1280x720 / {Y8}
  623. Width: 1280
  624. Height: 720
  625. PPX: 641.396301269531
  626. PPY: 348.946838378906
  627. Fx: 641.255554199219
  628. Fy: 641.255554199219
  629. Distortion: Brown Conrady
  630. Coeffs: 0 0 0 0 0
  631.  
  632. Intrinsic of "Infrared 2" / 1280x800 / {Y8}
  633. Width: 1280
  634. Height: 800
  635. PPX: 641.396301269531
  636. PPY: 388.946838378906
  637. Fx: 641.255554199219
  638. Fy: 641.255554199219
  639. Distortion: Brown Conrady
  640. Coeffs: 0 0 0 0 0
  641.  
  642. Provided Motion Intrinsic:
  643.  
  644. Provided Extrinsic:
  645. Extrinsic from "Depth" To "Depth" :
  646. Rotation Matrix:
  647. 1 0 0
  648. 0 1 0
  649. 0 0 1
  650.  
  651. Translation Vector: 0 0 0
  652.  
  653. Extrinsic from "Depth" To "Color" :
  654. Rotation Matrix:
  655. 0 0 0
  656. 0 0 0
  657. 0 0 0
  658.  
  659. Translation Vector: 0 0 0
  660.  
  661. Extrinsic from "Depth" To "Infrared 1" :
  662. Rotation Matrix:
  663. 1 0 0
  664. 0 1 0
  665. 0 0 1
  666.  
  667. Translation Vector: 0 0 0
  668.  
  669. Extrinsic from "Depth" To "Infrared 2" :
  670. Rotation Matrix:
  671. 1 0 0
  672. 0 1 0
  673. 0 0 1
  674.  
  675. Translation Vector: -0.0499125383794308 0 0
  676.  
  677. Extrinsic from "Depth" To "Gyro" :
  678. Rotation Matrix:
  679. 1 0 0
  680. 0 1 0
  681. 0 0 1
  682.  
  683. Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185
  684.  
  685. Extrinsic from "Depth" To "Accel" :
  686. Rotation Matrix:
  687. 1 0 0
  688. 0 1 0
  689. 0 0 1
  690.  
  691. Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185
  692.  
  693. Extrinsic from "Color" To "Depth" :
  694. Rotation Matrix:
  695. 0 0 0
  696. 0 0 0
  697. 0 0 0
  698.  
  699. Translation Vector: 0 0 0
  700.  
  701. Extrinsic from "Color" To "Color" :
  702. Rotation Matrix:
  703. 1 0 0
  704. 0 1 0
  705. 0 0 1
  706.  
  707. Translation Vector: 0 0 0
  708.  
  709. Extrinsic from "Color" To "Infrared 1" :
  710. Rotation Matrix:
  711. 0 0 0
  712. 0 0 0
  713. 0 0 0
  714.  
  715. Translation Vector: 0 0 0
  716.  
  717. Extrinsic from "Color" To "Infrared 2" :
  718. Rotation Matrix:
  719. 0 0 0
  720. 0 0 0
  721. 0 0 0
  722.  
  723. Translation Vector: 0 0 0
  724.  
  725. Extrinsic from "Color" To "Gyro" :
  726. Rotation Matrix:
  727. 0 0 0
  728. 0 0 0
  729. 0 0 0
  730.  
  731. Translation Vector: 0 0 0
  732.  
  733. Extrinsic from "Color" To "Accel" :
  734. Rotation Matrix:
  735. 0 0 0
  736. 0 0 0
  737. 0 0 0
  738.  
  739. Translation Vector: 0 0 0
  740.  
  741. Extrinsic from "Infrared 1" To "Depth" :
  742. Rotation Matrix:
  743. 1 0 0
  744. 0 1 0
  745. 0 0 1
  746.  
  747. Translation Vector: 0 0 0
  748.  
  749. Extrinsic from "Infrared 1" To "Color" :
  750. Rotation Matrix:
  751. 0 0 0
  752. 0 0 0
  753. 0 0 0
  754.  
  755. Translation Vector: 0 0 0
  756.  
  757. Extrinsic from "Infrared 1" To "Infrared 1" :
  758. Rotation Matrix:
  759. 1 0 0
  760. 0 1 0
  761. 0 0 1
  762.  
  763. Translation Vector: 0 0 0
  764.  
  765. Extrinsic from "Infrared 1" To "Infrared 2" :
  766. Rotation Matrix:
  767. 1 0 0
  768. 0 1 0
  769. 0 0 1
  770.  
  771. Translation Vector: -0.0499125383794308 0 0
  772.  
  773. Extrinsic from "Infrared 1" To "Gyro" :
  774. Rotation Matrix:
  775. 1 0 0
  776. 0 1 0
  777. 0 0 1
  778.  
  779. Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185
  780.  
  781. Extrinsic from "Infrared 1" To "Accel" :
  782. Rotation Matrix:
  783. 1 0 0
  784. 0 1 0
  785. 0 0 1
  786.  
  787. Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185
  788.  
  789. Extrinsic from "Infrared 2" To "Depth" :
  790. Rotation Matrix:
  791. 1 0 0
  792. 0 1 0
  793. 0 0 1
  794.  
  795. Translation Vector: 0.0499125383794308 0 0
  796.  
  797. Extrinsic from "Infrared 2" To "Color" :
  798. Rotation Matrix:
  799. 0 0 0
  800. 0 0 0
  801. 0 0 0
  802.  
  803. Translation Vector: 0.0499125383794308 0 0
  804.  
  805. Extrinsic from "Infrared 2" To "Infrared 1" :
  806. Rotation Matrix:
  807. 1 0 0
  808. 0 1 0
  809. 0 0 1
  810.  
  811. Translation Vector: 0.0499125383794308 0 0
  812.  
  813. Extrinsic from "Infrared 2" To "Infrared 2" :
  814. Rotation Matrix:
  815. 1 0 0
  816. 0 1 0
  817. 0 0 1
  818.  
  819. Translation Vector: 0 0 0
  820.  
  821. Extrinsic from "Infrared 2" To "Gyro" :
  822. Rotation Matrix:
  823. 1 0 0
  824. 0 1 0
  825. 0 0 1
  826.  
  827. Translation Vector: 0.0554325394332409 -0.00510000018402934 -0.011739999987185
  828.  
  829. Extrinsic from "Infrared 2" To "Accel" :
  830. Rotation Matrix:
  831. 1 0 0
  832. 0 1 0
  833. 0 0 1
  834.  
  835. Translation Vector: 0.0554325394332409 -0.00510000018402934 -0.011739999987185
  836.  
  837. Extrinsic from "Gyro" To "Depth" :
  838. Rotation Matrix:
  839. 1 0 0
  840. 0 1 0
  841. 0 0 1
  842.  
  843. Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
  844.  
  845. Extrinsic from "Gyro" To "Color" :
  846. Rotation Matrix:
  847. 0 0 0
  848. 0 0 0
  849. 0 0 0
  850.  
  851. Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
  852.  
  853. Extrinsic from "Gyro" To "Infrared 1" :
  854. Rotation Matrix:
  855. 1 0 0
  856. 0 1 0
  857. 0 0 1
  858.  
  859. Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
  860.  
  861. Extrinsic from "Gyro" To "Infrared 2" :
  862. Rotation Matrix:
  863. 1 0 0
  864. 0 1 0
  865. 0 0 1
  866.  
  867. Translation Vector: -0.0554325394332409 0.00510000018402934 0.011739999987185
  868.  
  869. Extrinsic from "Gyro" To "Gyro" :
  870. Rotation Matrix:
  871. 1 0 0
  872. 0 1 0
  873. 0 0 1
  874.  
  875. Translation Vector: 0 0 0
  876.  
  877. Extrinsic from "Gyro" To "Accel" :
  878. Rotation Matrix:
  879. 1 0 0
  880. 0 1 0
  881. 0 0 1
  882.  
  883. Translation Vector: 0 0 0
  884.  
  885. Extrinsic from "Accel" To "Depth" :
  886. Rotation Matrix:
  887. 1 0 0
  888. 0 1 0
  889. 0 0 1
  890.  
  891. Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
  892.  
  893. Extrinsic from "Accel" To "Color" :
  894. Rotation Matrix:
  895. 0 0 0
  896. 0 0 0
  897. 0 0 0
  898.  
  899. Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
  900.  
  901. Extrinsic from "Accel" To "Infrared 1" :
  902. Rotation Matrix:
  903. 1 0 0
  904. 0 1 0
  905. 0 0 1
  906.  
  907. Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
  908.  
  909. Extrinsic from "Accel" To "Infrared 2" :
  910. Rotation Matrix:
  911. 1 0 0
  912. 0 1 0
  913. 0 0 1
  914.  
  915. Translation Vector: -0.0554325394332409 0.00510000018402934 0.011739999987185
  916.  
  917. Extrinsic from "Accel" To "Gyro" :
  918. Rotation Matrix:
  919. 1 0 0
  920. 0 1 0
  921. 0 0 1
  922.  
  923. Translation Vector: 0 0 0
  924.  
  925. Extrinsic from "Accel" To "Accel" :
  926. Rotation Matrix:
  927. 1 0 0
  928. 0 1 0
  929. 0 0 1
  930.  
  931. Translation Vector: 0 0 0
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