[Question] Why does the D555 IMU accelerometer coordinate frame differ between DDS and USB?

Camera Model (if applicable)

D555

Topic

IMU / Motion Data

Your Question

Hello,

I am using an Intel RealSense D555 and noticed that the IMU accelerometer coordinate system appears to be different depending on whether the camera is connected via DDS or USB.

Test setup

I placed the RealSense D555 camera so that the camera is facing upward.

I then checked the IMU accelerometer visualization in RealSense Viewer.

With the DDS connection, the accelerometer coordinate system is displayed as shown in the first screenshot.

With the USB connection, the accelerometer coordinate system is displayed differently, as shown in the second screenshot.

DDS:

USB:

The camera orientation and physical setup were the same in both cases.

Question

Why is the IMU accelerometer coordinate system different between the DDS and USB connections?

Thank you.

Context / What You've Tried

No response

LibRealSense SDK Version (if applicable)

2.58.4

Operating System (if applicable)

Ubuntu 22.04

Additional Context

No response