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#15609·librealsense

[Question] Why does the Intel RealSense D555 over DDS report the `Motion → Depth` extrinsic translation in millimeter-scale values instead of meters?

Author: poiuyreq0Created Aug 28, 2026Updated Sep 3, 2026
Labelsquestion

Camera Model (if applicable)

D555

Topic

Calibration, IMU / Motion Data

Your Question

Why does the Intel RealSense D555 over DDS report the Motion → Depth extrinsic translation in millimeter-scale values instead of meters?

For a D555 with firmware 7.56.37776.6014, rs-enumerate-devices -c reports:

Extrinsic from "Motion" To "Depth" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1

 Translation Vector:
   -37.4000015258789
    7.19000005722046
   22.2999992370605

However, the D555 default IMU-to-Depth extrinsic defined in ds-calib-parsers.cpp is:

cpp
_def_extr = {
    { 1, 0, 0,
      0, 1, 0,
      0, 0, 1 },
    { -0.0374f, 0.00719f, 0.0223f }
};

The latter values correspond to:

-0.0374 m
 0.00719 m
 0.0223 m

while the DDS output corresponds numerically to:

-37.4 mm
 7.19 mm
22.3 mm

The other camera-to-camera extrinsics reported by the same device appear to be in meters. For example:

Extrinsic from "Depth" To "Infrared_2":

Translation Vector:
-0.0950350016355515
 0
 0

and:

Extrinsic from "Color" To "Depth":

Translation Vector:
 0.0592095702886581
-0.000028730000849
-0.000278079999

Therefore, this does not appear to be a global rs-enumerate-devices unit conversion issue.

Question

Where in the D555 DDS calibration/extrinsics path is the Motion → Depth translation converted or serialized from:

[-0.0374, 0.00719, 0.0223] meters

to:

[-37.4, 7.19, 22.3]

?

Is this a DDS calibration serialization/deserialization unit mismatch, a firmware-side issue, or an intentional difference in the representation of IMU extrinsics?

In particular, please identify the exact source code/function responsible for supplying the Motion → Depth rs2_extrinsics to the DDS device.

Context / What You've Tried

Full rs-enumerate-devices -c output

Please see the complete output below:

Device info: Name : Intel RealSense D555 Serial Number : 260922301160 Firmware Version : 7.56.37776.6014 Physical Port : realsense/D555_260922301160 Product Id : DDS Camera Locked : YES Product Line : D500 Firmware Update Id : 260922301160 Connection Type : DDS Imu Type : BMI088

Stream Profiles supported by RGB Camera Supported modes: STREAM RESOLUTION FORMAT FPS Color 1280x800 RGB8 @ 30/15 Hz Color | RAW16 @ 15 Hz Color | Y8 @ 30/15 Hz Color | BGRA8 @ 30/15 Hz Color | RGBA8 @ 30/15 Hz Color | BGR8 @ 30/15 Hz Color | YUYV @ 30/15 Hz Color 1280x720 RGB8 @ 30/15/5 Hz Color | Y8 @ 30/15/5 Hz Color | BGRA8 @ 30/15/5 Hz Color | RGBA8 @ 30/15/5 Hz Color | BGR8 @ 30/15/5 Hz Color | YUYV @ 30/15/5 Hz Color 896x504 RGB8 @ 60/30/15/5 Hz Color | Y8 @ 60/30/15/5 Hz Color | BGRA8 @ 60/30/15/5 Hz Color | RGBA8 @ 60/30/15/5 Hz Color | BGR8 @ 60/30/15/5 Hz Color | YUYV @ 60/30/15/5 Hz Color 640x360 RGB8 @ 60/30/15/5 Hz Color | Y8 @ 60/30/15/5 Hz Color | BGRA8 @ 60/30/15/5 Hz Color | RGBA8 @ 60/30/15/5 Hz Color | BGR8 @ 60/30/15/5 Hz Color | YUYV @ 60/30/15/5 Hz Color 448x252 RGB8 @ 60/30/15/5 Hz Color | Y8 @ 60/30/15/5 Hz Color | BGRA8 @ 60/30/15/5 Hz Color | RGBA8 @ 60/30/15/5 Hz Color | BGR8 @ 60/30/15/5 Hz Color | YUYV @ 60/30/15/5 Hz CompressedColor 1280x800 RGB8 @ 30/15 Hz CompressedColor 1280x720 RGB8 @ 30/15/5 Hz CompressedColor 896x504 RGB8 @ 60/30/15/5 Hz CompressedColor 640x360 RGB8 @ 60/30/15/5 Hz CompressedColor 448x252 RGB8 @ 60/30/15/5 Hz

Stream Profiles supported by Stereo Module Supported modes: STREAM RESOLUTION FORMAT FPS Infrared_1 1280x800 Y16 @ 15 Hz Infrared_1 1280x720 Y8 @ 30/15/5 Hz Infrared_1 896x504 Y8 @ 60/30/15/5 Hz Infrared_1 640x360 Y8 @ 60/30/15/5 Hz Infrared_1 448x252 Y8 @ 60/30/15/5 Hz Infrared_1 256x144 Y8 @ 90 Hz Infrared_2 1280x800 Y16 @ 15 Hz Infrared_2 1280x720 Y8 @ 30/15/5 Hz Infrared_2 896x504 Y8 @ 60/30/15/5 Hz Infrared_2 640x360 Y8 @ 60/30/15/5 Hz Infrared_2 448x252 Y8 @ 60/30/15/5 Hz Infrared_2 256x144 Y8 @ 90 Hz Depth 1280x800 Z16 @ 15 Hz Depth 1280x720 Z16 @ 30/15/5 Hz Depth 896x504 Z16 @ 60/30/15/5 Hz Depth 640x360 Z16 @ 60/30/15/5 Hz Depth 448x252 Z16 @ 60/30/15/5 Hz Depth 256x144 Z16 @ 90 Hz

Stream Profiles supported by Motion Module Supported modes: STREAM FORMAT FPS Motion COMBINED_MOTION @ 200/100 Hz

Intrinsic Parameters:

Intrinsic of "Depth" / 256x144 / {Z16} Width: 256 Height: 144 PPX: 127.371322631836 PPY: 70.5982971191406 Fx: 129.545455932617 Fy: 129.545455932617 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Depth" / 448x252 / {Z16} Width: 448 Height: 252 PPX: 223.274826049805 PPY: 123.922012329102 Fx: 226.704544067383 Fy: 226.704544067383 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Depth" / 640x360 / {Z16} Width: 640 Height: 360 PPX: 319.178314208984 PPY: 177.245727539062 Fx: 323.863647460938 Fy: 323.863647460938 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Depth" / 896x504 / {Z16} Width: 896 Height: 504 PPX: 447.049652099609 PPY: 248.344024658203 Fx: 453.409088134766 Fy: 453.409088134766 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Depth" / 1280x720 / {Z16} Width: 1280 Height: 720 PPX: 638.856628417969 PPY: 354.991455078125 Fx: 647.727294921875 Fy: 647.727294921875 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Depth" / 1280x800 / {Z16} Width: 1280 Height: 800 PPX: 638.856628417969 PPY: 394.991455078125 Fx: 647.727294921875 Fy: 647.727294921875 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 63.39

Intrinsic of "Color" / 448x252 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8} Width: 448 Height: 252 PPX: 220.783996582031 PPY: 125.46696472168 Fx: 225.534774780273 Fy: 225.22119140625 Distortion: Brown Conrady Coeffs: -0.0530927702784538 0.0561047196388245 -0.000604410015512258 0.000216639993595891 -0.0165443997830153
FOV (deg): 89.6 x 58.45

Intrinsic of "Color" / 640x360 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8} Width: 640 Height: 360 PPX: 315.619995117188 PPY: 179.452819824219 Fx: 322.192535400391 Fy: 321.744567871094 Distortion: Brown Conrady Coeffs: -0.0530927702784538 0.0561047196388245 -0.000604410015512258 0.000216639993595891 -0.0165443997830153
FOV (deg): 89.6 x 58.45

Intrinsic of "Color" / 896x504 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8} Width: 896 Height: 504 PPX: 442.067993164062 PPY: 251.433929443359 Fx: 451.069549560547 Fy: 450.4423828125 Distortion: Brown Conrady Coeffs: -0.0530927702784538 0.0561047196388245 -0.000604410015512258 0.000216639993595891 -0.0165443997830153
FOV (deg): 89.6 x 58.45

Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8} Width: 1280 Height: 720 PPX: 631.739990234375 PPY: 359.405639648438 Fx: 644.385070800781 Fy: 643.489135742188 Distortion: Brown Conrady Coeffs: -0.0530927702784538 0.0561047196388245 -0.000604410015512258 0.000216639993595891 -0.0165443997830153
FOV (deg): 89.6 x 58.45

Intrinsic of "Color" / 1280x800 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8/RAW16} Width: 1280 Height: 800 PPX: 631.739990234375 PPY: 399.405639648438 Fx: 644.385070800781 Fy: 643.489135742188 Distortion: Brown Conrady Coeffs: -0.0530927702784538 0.0561047196388245 -0.000604410015512258 0.000216639993595891 -0.0165443997830153
FOV (deg): 89.6 x 63.73

Intrinsic of "CompressedColor" / 448x252 / {RGB8} Width: 448 Height: 252 PPX: 220.783996582031 PPY: 125.46696472168 Fx: 225.534774780273 Fy: 225.22119140625 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.6 x 58.45

Intrinsic of "CompressedColor" / 640x360 / {RGB8} Width: 640 Height: 360 PPX: 315.619995117188 PPY: 179.452819824219 Fx: 322.192535400391 Fy: 321.744567871094 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.6 x 58.45

Intrinsic of "CompressedColor" / 896x504 / {RGB8} Width: 896 Height: 504 PPX: 442.067993164062 PPY: 251.433929443359 Fx: 451.069549560547 Fy: 450.4423828125 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.6 x 58.45

Intrinsic of "CompressedColor" / 1280x720 / {RGB8} Width: 1280 Height: 720 PPX: 631.739990234375 PPY: 359.405639648438 Fx: 644.385070800781 Fy: 643.489135742188 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.6 x 58.45

Intrinsic of "CompressedColor" / 1280x800 / {RGB8} Width: 1280 Height: 800 PPX: 631.739990234375 PPY: 399.405639648438 Fx: 644.385070800781 Fy: 643.489135742188 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.6 x 63.73

Intrinsic of "Infrared_1" / 256x144 / {Y8} Width: 256 Height: 144 PPX: 127.371322631836 PPY: 70.5982971191406 Fx: 129.545455932617 Fy: 129.545455932617 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_1" / 448x252 / {Y8} Width: 448 Height: 252 PPX: 223.274826049805 PPY: 123.922012329102 Fx: 226.704544067383 Fy: 226.704544067383 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_1" / 640x360 / {Y8} Width: 640 Height: 360 PPX: 319.178314208984 PPY: 177.245727539062 Fx: 323.863647460938 Fy: 323.863647460938 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_1" / 896x504 / {Y8} Width: 896 Height: 504 PPX: 447.049652099609 PPY: 248.344024658203 Fx: 453.409088134766 Fy: 453.409088134766 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_1" / 1280x720 / {Y8} Width: 1280 Height: 720 PPX: 638.856628417969 PPY: 354.991455078125 Fx: 647.727294921875 Fy: 647.727294921875 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_1" / 1280x800 / {Y16} Width: 1280 Height: 800 PPX: 638.856628417969 PPY: 394.991455078125 Fx: 647.727294921875 Fy: 647.727294921875 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 63.39

Intrinsic of "Infrared_2" / 256x144 / {Y8} Width: 256 Height: 144 PPX: 127.371322631836 PPY: 70.5982971191406 Fx: 129.545455932617 Fy: 129.545455932617 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_2" / 448x252 / {Y8} Width: 448 Height: 252 PPX: 223.274826049805 PPY: 123.922012329102 Fx: 226.704544067383 Fy: 226.704544067383 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_2" / 640x360 / {Y8} Width: 640 Height: 360 PPX: 319.178314208984 PPY: 177.245727539062 Fx: 323.863647460938 Fy: 323.863647460938 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_2" / 896x504 / {Y8} Width: 896 Height: 504 PPX: 447.049652099609 PPY: 248.344024658203 Fx: 453.409088134766 Fy: 453.409088134766 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_2" / 1280x720 / {Y8} Width: 1280 Height: 720 PPX: 638.856628417969 PPY: 354.991455078125 Fx: 647.727294921875 Fy: 647.727294921875 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 58.13

Intrinsic of "Infrared_2" / 1280x800 / {Y16} Width: 1280 Height: 800 PPX: 638.856628417969 PPY: 394.991455078125 Fx: 647.727294921875 Fy: 647.727294921875 Distortion: None Coeffs: 0 0 0 0 0
FOV (deg): 89.31 x 63.39

Motion Intrinsic Parameters:

Motion Intrinsic of "Motion" COMBINED_MOTION 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: 1 -0.00028244 0.00029599
0.00028214 0.999999 0.00101945
-0.00029628 -0.00101937 0.999999

Translation Vector: -0.0592094920575619 1.23080853882129e-05 0.000295593170449138

Extrinsic from "Depth" To "CompressedColor" : Rotation Matrix: 1 -0.00028244 0.00029599
0.00028214 0.999999 0.00101945
-0.00029628 -0.00101937 0.999999

Translation Vector: -0.0592094920575619 1.23080853882129e-05 0.000295593170449138

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: -0.0950350016355515 0 0

Extrinsic from "Depth" To "Motion" : Rotation Matrix: 1 0 0 0 1 0 0 0 1

Translation Vector: 37.4000015258789 -7.19000005722046 -22.2999992370605

Extrinsic from "Color" To "Depth" : Rotation Matrix: 1 0.00028214 -0.00029628
-0.00028244 0.999999 -0.00101937
0.00029599 0.00101945 0.999999

Translation Vector: 0.0592095702886581 -2.8730000849464e-05 -0.000278079998679459

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 "CompressedColor" : Rotation Matrix: 1 1.86114e-09 -2.18279e-09
1.86114e-09 1 -3.60887e-09
-2.18279e-09 -3.60887e-09 1

Translation Vector: 0 0 0

Extrinsic from "Color" To "Infrared_1" : Rotation Matrix: 1 0.00028214 -0.00029628
-0.00028244 0.999999 -0.00101937
0.00029599 0.00101945 0.999999

Translation Vector: 0.0592095702886581 -2.8730000849464e-05 -0.000278079998679459

Extrinsic from "Color" To "Infrared_2" : Rotation Matrix: 1 0.00028214 -0.00029628
-0.00028244 0.999999 -0.00101937
0.00029599 0.00101945 0.999999

Translation Vector: -0.0358254313468933 -2.8730000849464e-05 -0.000278079998679459

Extrinsic from "Color" To "Motion" : Rotation Matrix: 1 0.00028214 -0.00029628
-0.00028244 0.999999 -0.00101937
0.00029599 0.00101945 0.999999

Translation Vector: 37.4592094421387 -7.19002866744995 -22.3002777099609

Extrinsic from "CompressedColor" To "Depth" : Rotation Matrix: 1 0.00028214 -0.00029628
-0.00028244 0.999999 -0.00101937
0.00029599 0.00101945 0.999999

Translation Vector: 0.0592095702886581 -2.8730000849464e-05 -0.000278079998679459

Extrinsic from "CompressedColor" To "Color" : Rotation Matrix: 1 1.86114e-09 -2.18279e-09
1.86114e-09 1 -3.60887e-09
-2.18279e-09 -3.60887e-09 1

Translation Vector: 0 0 0

Extrinsic from "CompressedColor" To "CompressedColor" : Rotation Matrix: 1 0 0 0 1 0 0 0 1

Translation Vector: 0 0 0

Extrinsic from "CompressedColor" To "Infrared_1" : Rotation Matrix: 1 0.00028214 -0.00029628
-0.00028244 0.999999 -0.00101937
0.00029599 0.00101945 0.999999

Translation Vector: 0.0592095702886581 -2.8730000849464e-05 -0.000278079998679459

Extrinsic from "CompressedColor" To "Infrared_2" : Rotation Matrix: 1 0.00028214 -0.00029628
-0.00028244 0.999999 -0.00101937
0.00029599 0.00101945 0.999999

Translation Vector: -0.0358254313468933 -2.8730000849464e-05 -0.000278079998679459

Extrinsic from "CompressedColor" To "Motion" : Rotation Matrix: 1 0.00028214 -0.00029628
-0.00028244 0.999999 -0.00101937
0.00029599 0.00101945 0.999999

Translation Vector: 37.4592094421387 -7.19002866744995 -22.3002777099609

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: 1 -0.00028244 0.00029599
0.00028214 0.999999 0.00101

Source: realsenseai/librealsense

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