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Table of Contents

Table of Contents
maxLevel6
minLevel1
maxLevel6
include
outlinefalse
indent
exclude
styledefault
excludetypelist
classprintabletrue
class

1. D435i Specification

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Code Block
Configuration:
Stream Type,Stream Name,Format,FPS,Width,Height
Infrared 1,Infrared,Y8,30,640,480
Infrared 2,Infrared,Y8,30,640,480
Depth,Depth,Z16,30,640,480
Color,Color,RGB8,30,640,480
Accel,Accel,MOTION_XYZ32F,63
Gyro,Gyro,MOTION_XYZ32F,200


Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)

Depth,0,0,1718101255922.467,93.923
Depth,0,1,1718101255955.962,126.588
Depth,0,2,1718101255989.711,159.293
Depth,0,3,1718101256023.715,192.588
Depth,0,4,1718101256057.975,226.107
Depth,0,5,1718101256092.171,259.348
Depth,0,6,1718101256126.385,292.684
Depth,0,1,1718101256396.762,555.328
Depth,0,2,1718101256430.822,589.470
Depth,0,3,1718101256464.863,622.119
Depth,0,4,1718101256498.874,655.503
Depth,0,5,1718101256532.795,688.521
Depth,0,6,1718101256566.686,722.980
Depth,0,7,1718101256600.542,756.215
Depth,0,8,1718101256634.337,789.372
Depth,0,9,1718101256668.097,822.599
Depth,0,10,1718101256701.821,855.674
Depth,0,11,1718101256735.505,889.022
Depth,0,12,1718101256769.153,922.486
Depth,0,13,1718101256802.766,955.681
Depth,0,14,1718101256836.353,989.132

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)

Color,0,0,1718101256259.960,454.764
Color,0,1,1718101256294.159,487.389
Color,0,2,1718101256328.367,521.477
Color,0,3,1718101256362.703,554.802
Color,0,4,1718101256396.781,588.185
Color,0,5,1718101256430.840,621.509
Color,0,6,1718101256464.941,654.955
Color,0,7,1718101256498.892,688.263
Color,0,8,1718101256532.813,721.608
Color,0,9,1718101256566.730,757.043
Color,0,10,1718101256600.560,788.358
Color,0,11,1718101256634.355,821.694
Color,0,12,1718101256668.119,855.064
Color,0,13,1718101256701.839,891.041
Color,0,14,1718101256735.523,921.861
Color,0,15,1718101256769.160,955.088
Color,0,16,1718101256802.784,988.405

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)

Infrared,1,0,1718101255955.962,128.361
Infrared,1,1,1718101255989.711,159.286
Infrared,1,2,1718101256023.715,192.573
Infrared,1,3,1718101256057.975,226.106
Infrared,1,4,1718101256092.171,259.396
Infrared,1,5,1718101256126.385,292.732
Infrared,1,6,1718101256160.716,325.822
Infrared,1,1,1718101256430.822,589.375
Infrared,1,2,1718101256464.863,622.861
Infrared,1,3,1718101256498.874,656.143
Infrared,1,4,1718101256532.795,689.165
Infrared,1,5,1718101256566.686,724.407
Infrared,1,6,1718101256600.542,755.700
Infrared,1,7,1718101256634.337,789.499
Infrared,1,8,1718101256668.097,822.567
Infrared,1,9,1718101256701.821,856.480
Infrared,1,10,1718101256735.505,889.345
Infrared,1,11,1718101256769.153,922.735
Infrared,1,12,1718101256802.766,956.517
Infrared,1,13,1718101256836.353,989.500

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)

Infrared,2,0,1718101255955.962,128.428
Infrared,2,1,1718101255989.711,159.321
Infrared,2,2,1718101256023.715,192.626
Infrared,2,3,1718101256057.975,226.147
Infrared,2,4,1718101256092.171,259.445
Infrared,2,5,1718101256126.385,292.773
Infrared,2,6,1718101256160.716,325.862
Infrared,2,1,1718101256430.822,589.427
Infrared,2,2,1718101256464.863,622.906
Infrared,2,3,1718101256498.874,656.184
Infrared,2,4,1718101256532.795,689.203
Infrared,2,5,1718101256566.686,724.450
Infrared,2,6,1718101256600.542,755.756
Infrared,2,7,1718101256634.337,789.542
Infrared,2,8,1718101256668.097,822.614
Infrared,2,9,1718101256701.821,856.523
Infrared,2,10,1718101256735.505,889.443
Infrared,2,11,1718101256769.153,922.776
Infrared,2,12,1718101256802.766,956.562
Infrared,2,13,1718101256836.353,989.543

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms),3DOF_x,3DOF_y,3DOF_z

Gyro,0,1,1718101256005.679,166.630,-0.010,0.001,0.000
Gyro,0,2,1718101256010.786,170.414,-0.006,-0.004,0.001
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Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms),3DOF_x,3DOF_y,3DOF_z

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Accel,0,14,1718101256119.895,276.890,-0.108,-9.267,1.393
Accel,0,15,1718101256136.238,293.018,-0.108,-9.267,1.412
Accel,0,16,1718101256152.606,308.666,-0.108,-9.267,1.412
Accel,0,17,1718101256169.000,324.655,-0.088,-9.267,1.412
Accel,0,18,1718101256185.394,340.461,-0.127,-9.267,1.393
Accel,0,19,1718101256201.752,356.125,-0.108,-9.248,1.432
Accel,0,20,1718101256218.129,372.105,-0.127,-9.267,1.412
Accel,0,21,1718101256234.520,388.118,-0.108,-9.267,1.412
Accel,0,22,1718101256250.929,403.860,-0.108,-9.267,1.393
Accel,0,23,1718101256267.359,419.866,-0.108,-9.267,1.412
Accel,0,24,1718101256283.804,435.898,-0.108,-9.248,1.412
Accel,0,25,1718101256300.102,451.469,-0.127,-9.267,1.412
Accel,0,26,1718101256316.401,467.629,-0.108,-9.287,1.412
Accel,0,27,1718101256332.699,483.384,-0.108,-9.267,1.412
Accel,0,28,1718101256349.002,499.394,-0.108,-9.267,1.393
Accel,0,29,1718101256365.306,515.123,-0.108,-9.267,1.412
Accel,0,30,1718101256381.611,531.294,-0.108,-9.267,1.393
Accel,0,31,1718101256397.890,547.085,-0.088,-9.248,1.393
Accel,0,32,1718101256414.120,562.848,-0.108,-9.267,1.393
Accel,0,33,1718101256430.345,578.844,-0.108,-9.287,1.393
Accel,0,34,1718101256446.568,594.608,-0.108,-9.267,1.412
Accel,0,35,1718101256462.786,610.586,-0.127,-9.248,1.412
Accel,0,36,1718101256478.999,626.492,-0.108,-9.287,1.412
Accel,0,37,1718101256495.208,642.413,-0.108,-9.267,1.393
Accel,0,38,1718101256511.376,658.419,-0.108,-9.267,1.412
Accel,0,39,1718101256527.534,674.101,-0.127,-9.267,1.412
Accel,0,40,1718101256543.688,690.154,-0.108,-9.267,1.393
Accel,0,41,1718101256559.836,705.854,-0.127,-9.287,1.393
Accel,0,42,1718101256575.976,721.915,-0.127,-9.267,1.412
Accel,0,43,1718101256592.111,737.857,-0.108,-9.267,1.412
Accel,0,44,1718101256608.224,754.820,-0.108,-9.267,1.412
Accel,0,45,1718101256624.326,769.631,-0.127,-9.267,1.412
Accel,0,46,1718101256640.421,787.672,-0.127,-9.267,1.412
Accel,0,47,1718101256656.508,801.543,-0.108,-9.267,1.412
Accel,0,48,1718101256672.587,817.639,-0.127,-9.267,1.412
Accel,0,49,1718101256688.659,833.152,-0.108,-9.267,1.393
Accel,0,50,1718101256704.721,849.303,-0.108,-9.267,1.412
Accel,0,51,1718101256720.774,864.943,-0.108,-9.248,1.412
Accel,0,52,1718101256736.819,882.158,-0.108,-9.267,1.432
Accel,0,53,1718101256752.855,896.731,-0.108,-9.267,1.412
Accel,0,54,1718101256768.882,912.645,-0.127,-9.267,1.412
Accel,0,55,1718101256784.902,928.623,-0.127,-9.248,1.412
Accel,0,56,1718101256800.914,944.400,-0.108,-9.267,1.412
Accel,0,57,1718101256816.923,960.420,-0.127,-9.248,1.412
Accel,0,58,1718101256832.922,976.172,-0.108,-9.267,1.412
Accel,0,59,1718101256848.914,992.084,-0.088,-9.267,1.412
Accel,0,60,1718101256864.896,1007.651,-0.127,-9.248,1.393

4.2 rs-capture:

...

capture video amd imu streams data with GUI interface

Code Block
rs-capture

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