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Intrinsics of the D435i camera.
| RGB | IR | |
| Width (pixel) | 1280 | 1280 |
| Height (pixel) | 720 | 720 |
| PPX (pixel) | 648.57 | 639.70 |
| PPY (pixel) | 363.66 | 356.18 |
| Fx (pixel) | 912.36 | 638.19 |
| Fy (pixel) | 910.26 | 638.19 |
| Distortion | Inverse Brown Conrady | Brown Conrady |
| Coeffs | 0 0 0 0 0 | 0 0 0 0 0 |
| FOV (deg) | 70.09 × 43.16 | 90.16 × 58.85 |
