How to Get Intrinsics for RGB and Depth Sensors? How About Extrinsics Between the Two?

Unity Development
1

How can I get the camera matrix (intrinsic) for RGB and the Depth camera? And are there calibrated extrinsic, like the translation and rotation matrix between the RGB and the Depth?

I’m inching my way towards combining the two into an RGBD image, or at least an RGB and D that align with each other as well as I can get it.

Thanks!

Give us as much detail as possible regarding the issue you’re experiencing:

Unity Editor version: 6000
ML2 OS version: 1.12
Unity SDK version:2.6
Host OS: (Windows/MacOS) windows, but running on the ML2

Error messages from logs (syntax-highlighting is supported via Markdown):

2

Well I got the intrinsics. I guess only way to get extrinsics is to go on a calibration journey?