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rs-calibration.txt
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rs-calibration.txt
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Device info:
Name : Intel RealSense D435I
Serial Number : 944622075140
Firmware Version : 5.15.1
Recommended Firmware Version : 5.16.0.1
Physical Port : 1-4.4-4
Debug Op Code : 15
Advanced Mode : YES
Product Id : 0B3A
Camera Locked : YES
Usb Type Descriptor : 2.1
Product Line : D400
Asic Serial Number : 944123050641
Firmware Update Id : 944123050641
Dfu Device Path :
Stream Profiles supported by Stereo Module
Supported modes:
STREAM RESOLUTION FORMAT FPS
Infrared 1 1280x720 Y8 @ 6 Hz
Infrared 1 848x480 Y8 @ 10/8/6 Hz
Infrared 1 640x480 Y8 @ 30/15/6 Hz
Infrared 1 640x360 Y8 @ 30 Hz
Infrared 1 480x270 Y8 @ 60/30/15/6 Hz
Infrared 2 1280x720 Y8 @ 6 Hz
Infrared 2 848x480 Y8 @ 10/8/6 Hz
Infrared 2 640x480 Y8 @ 30/15/6 Hz
Infrared 2 640x360 Y8 @ 30 Hz
Infrared 2 480x270 Y8 @ 60/30/15/6 Hz
Depth 1280x720 Z16 @ 6 Hz
Depth 848x480 Z16 @ 10/8/6 Hz
Depth 640x480 Z16 @ 30/15/6 Hz
Depth 640x360 Z16 @ 30 Hz
Depth 480x270 Z16 @ 60/30/15/6 Hz
Depth 256x144 Z16 @ 90 Hz
Stream Profiles supported by RGB Camera
Supported modes:
STREAM RESOLUTION FORMAT FPS
Color 1920x1080 RGB8 @ 8 Hz
Color | Y8 @ 8 Hz
Color | BGRA8 @ 8 Hz
Color | RGBA8 @ 8 Hz
Color | BGR8 @ 8 Hz
Color | YUYV @ 8 Hz
Color 1280x720 RGB8 @ 15/10/6 Hz
Color | Y8 @ 15/10/6 Hz
Color | BGRA8 @ 15/10/6 Hz
Color | RGBA8 @ 15/10/6 Hz
Color | BGR8 @ 15/10/6 Hz
Color | YUYV @ 15/10/6 Hz
Color 640x480 RGB8 @ 30/15/6 Hz
Color | Y8 @ 30/15/6 Hz
Color | BGRA8 @ 30/15/6 Hz
Color | RGBA8 @ 30/15/6 Hz
Color | BGR8 @ 30/15/6 Hz
Color | YUYV @ 30/15/6 Hz
Color 424x240 RGB8 @ 60/30/15/6 Hz
Color | Y8 @ 60/30/15/6 Hz
Color | BGRA8 @ 60/30/15/6 Hz
Color | RGBA8 @ 60/30/15/6 Hz
Color | BGR8 @ 60/30/15/6 Hz
Color | YUYV @ 60/30/15/6 Hz
Stream Profiles supported by Motion Module
Supported modes:
STREAM FORMAT FPS
Accel MOTION_XYZ32F @ 250/63 Hz
Gyro MOTION_XYZ32F @ 400/200 Hz
Intrinsic Parameters:
Intrinsic of "Depth" / 256x144 / {Z16}
Width: 256
Height: 144
PPX: 127.099243164062
PPY: 72.8721313476562
Fx: 642.175903320312
Fy: 642.175903320312
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 22.55 x 12.79
Intrinsic of "Depth" / 480x270 / {Z16}
Width: 480
Height: 270
PPX: 239.662216186523
PPY: 135.327056884766
Fx: 240.815963745117
Fy: 240.815963745117
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Intrinsic of "Depth" / 640x360 / {Z16}
Width: 640
Height: 360
PPX: 319.549621582031
PPY: 180.436065673828
Fx: 321.087951660156
Fy: 321.087951660156
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Intrinsic of "Depth" / 640x480 / {Z16}
Width: 640
Height: 480
PPX: 319.459533691406
PPY: 240.523284912109
Fx: 385.305541992188
Fy: 385.305541992188
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 79.42 x 63.84
Intrinsic of "Depth" / 848x480 / {Z16}
Width: 848
Height: 480
PPX: 423.403259277344
PPY: 240.577789306641
Fx: 425.441528320312
Fy: 425.441528320312
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.86
Intrinsic of "Depth" / 1280x720 / {Z16}
Width: 1280
Height: 720
PPX: 639.099243164062
PPY: 360.872131347656
Fx: 642.175903320312
Fy: 642.175903320312
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Intrinsic of "Color" / 424x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 424
Height: 240
PPX: 213.533874511719
PPY: 118.008720397949
Fx: 305.012908935547
Fy: 304.303955078125
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.6 x 43.04
Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 640
Height: 480
PPX: 323.067779541016
PPY: 236.017440795898
Fx: 610.02587890625
Fy: 608.60791015625
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 55.36 x 43.04
Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 1280
Height: 720
PPX: 644.601684570312
PPY: 354.026153564453
Fx: 915.038757324219
Fy: 912.911865234375
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.94 x 43.04
Intrinsic of "Color" / 1920x1080 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 1920
Height: 1080
PPX: 966.902526855469
PPY: 531.039245605469
Fx: 1372.55810546875
Fy: 1369.36779785156
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.94 x 43.04
Intrinsic of "Infrared 1" / 480x270 / {Y8}
Width: 480
Height: 270
PPX: 239.662216186523
PPY: 135.327056884766
Fx: 240.815963745117
Fy: 240.815963745117
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Intrinsic of "Infrared 1" / 640x360 / {Y8}
Width: 640
Height: 360
PPX: 319.549621582031
PPY: 180.436065673828
Fx: 321.087951660156
Fy: 321.087951660156
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Intrinsic of "Infrared 1" / 640x480 / {Y8}
Width: 640
Height: 480
PPX: 319.459533691406
PPY: 240.523284912109
Fx: 385.305541992188
Fy: 385.305541992188
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 79.42 x 63.84
Intrinsic of "Infrared 1" / 848x480 / {Y8}
Width: 848
Height: 480
PPX: 423.403259277344
PPY: 240.577789306641
Fx: 425.441528320312
Fy: 425.441528320312
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.86
Intrinsic of "Infrared 1" / 1280x720 / {Y8}
Width: 1280
Height: 720
PPX: 639.099243164062
PPY: 360.872131347656
Fx: 642.175903320312
Fy: 642.175903320312
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Intrinsic of "Infrared 2" / 480x270 / {Y8}
Width: 480
Height: 270
PPX: 239.662216186523
PPY: 135.327056884766
Fx: 240.815963745117
Fy: 240.815963745117
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Intrinsic of "Infrared 2" / 640x360 / {Y8}
Width: 640
Height: 360
PPX: 319.549621582031
PPY: 180.436065673828
Fx: 321.087951660156
Fy: 321.087951660156
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Intrinsic of "Infrared 2" / 640x480 / {Y8}
Width: 640
Height: 480
PPX: 319.459533691406
PPY: 240.523284912109
Fx: 385.305541992188
Fy: 385.305541992188
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 79.42 x 63.84
Intrinsic of "Infrared 2" / 848x480 / {Y8}
Width: 848
Height: 480
PPX: 423.403259277344
PPY: 240.577789306641
Fx: 425.441528320312
Fy: 425.441528320312
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.86
Intrinsic of "Infrared 2" / 1280x720 / {Y8}
Width: 1280
Height: 720
PPX: 639.099243164062
PPY: 360.872131347656
Fx: 642.175903320312
Fy: 642.175903320312
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 89.81 x 58.55
Motion Intrinsic Parameters:
Motion Intrinsic of "Gyro" MOTION_XYZ32F
Bias Variances: 0.000000000000000 0.000000000000000 0.000000000000000
Noise Variances: 0.000000000000000 0.000000000000000 0.000000000000000
Sensitivity :
1.000000 0.000000 0.000000 0.000000
0.000000 1.000000 0.000000 0.000000
0.000000 0.000000 1.000000 0.000000
Motion Intrinsic of "Accel" MOTION_XYZ32F
Bias Variances: 0.000000000000000 0.000000000000000 0.000000000000000
Noise Variances: 0.000000000000000 0.000000000000000 0.000000000000000
Sensitivity :
1.000000 0.000000 0.000000 0.000000
0.000000 1.000000 0.000000 0.000000
0.000000 0.000000 1.000000 0.000000
Extrinsic Parameters:
Extrinsic from "Depth" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Depth" To "Color" :
Rotation Matrix:
0.999977 -0.00371449 -0.00571969
0.0037099 0.999993 -0.000812862
0.00572267 0.000791624 0.999983
Translation Vector: 0.0149145638570189 0.000255211023613811 -2.85935184365371e-05
Extrinsic from "Depth" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Depth" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0501560494303703 0 0
Extrinsic from "Depth" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
Extrinsic from "Depth" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
Extrinsic from "Color" To "Depth" :
Rotation Matrix:
0.999977 0.0037099 0.00572267
-0.00371449 0.999993 0.000791624
-0.00571969 -0.000812862 0.999983
Translation Vector: -0.0149149997159839 -0.00019978653290309 0.000114107140689157
Extrinsic from "Color" To "Color" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Color" To "Infrared 1" :
Rotation Matrix:
0.999977 0.0037099 0.00572267
-0.00371449 0.999993 0.000791624
-0.00571969 -0.000812862 0.999983
Translation Vector: -0.0149149997159839 -0.00019978653290309 0.000114107140689157
Extrinsic from "Color" To "Infrared 2" :
Rotation Matrix:
0.999977 0.0037099 0.00572267
-0.00371449 0.999993 0.000791624
-0.00571969 -0.000812862 0.999983
Translation Vector: -0.0650710463523865 -0.00019978653290309 0.000114107140689157
Extrinsic from "Color" To "Gyro" :
Rotation Matrix:
0.999977 0.0037099 0.00572267
-0.00371449 0.999993 0.000791624
-0.00571969 -0.000812862 0.999983
Translation Vector: -0.0204349998384714 0.0049002137966454 0.011854107491672
Extrinsic from "Color" To "Accel" :
Rotation Matrix:
0.999977 0.0037099 0.00572267
-0.00371449 0.999993 0.000791624
-0.00571969 -0.000812862 0.999983
Translation Vector: -0.0204349998384714 0.0049002137966454 0.011854107491672
Extrinsic from "Infrared 1" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared 1" To "Color" :
Rotation Matrix:
0.999977 -0.00371449 -0.00571969
0.0037099 0.999993 -0.000812862
0.00572267 0.000791624 0.999983
Translation Vector: 0.0149145638570189 0.000255211023613811 -2.85935184365371e-05
Extrinsic from "Infrared 1" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared 1" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0501560494303703 0 0
Extrinsic from "Infrared 1" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
Extrinsic from "Infrared 1" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185
Extrinsic from "Infrared 2" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0501560494303703 0 0
Extrinsic from "Infrared 2" To "Color" :
Rotation Matrix:
0.999977 -0.00371449 -0.00571969
0.0037099 0.999993 -0.000812862
0.00572267 0.000791624 0.999983
Translation Vector: 0.0650694444775581 0.000441284966655076 0.000258432788541541
Extrinsic from "Infrared 2" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0501560494303703 0 0
Extrinsic from "Infrared 2" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared 2" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0446360483765602 0.00510000018402934 0.011739999987185
Extrinsic from "Infrared 2" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0446360483765602 0.00510000018402934 0.011739999987185
Extrinsic from "Gyro" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185
Extrinsic from "Gyro" To "Color" :
Rotation Matrix:
0.999977 -0.00371449 -0.00571969
0.0037099 0.999993 -0.000812862
0.00572267 0.000791624 0.999983
Translation Vector: 0.0205205287784338 -0.00481473095715046 -0.0117408456280828
Extrinsic from "Gyro" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185
Extrinsic from "Gyro" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0446360483765602 -0.00510000018402934 -0.011739999987185
Extrinsic from "Gyro" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Gyro" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Accel" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185
Extrinsic from "Accel" To "Color" :
Rotation Matrix:
0.999977 -0.00371449 -0.00571969
0.0037099 0.999993 -0.000812862
0.00572267 0.000791624 0.999983
Translation Vector: 0.0205205287784338 -0.00481473095715046 -0.0117408456280828
Extrinsic from "Accel" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185
Extrinsic from "Accel" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0446360483765602 -0.00510000018402934 -0.011739999987185
Extrinsic from "Accel" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Accel" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0