# How to Get Intrinsics for RGB and Depth Sensors? How About Extrinsics Between the Two? **URL:** \ **Category:** Unity Development\ **Tags:** pixel-sensor\ **Created:** [August 6, 2025, 7:30pm UTC](https://forum.magicleap.cloud/t/how-to-get-intrinsics-for-rgb-and-depth-sensors-how-about-extrinsics-between-the-two/6163 "2025-08-06T19:30:29Z")\ **Posts on this page:** 1\ **Showing post:** 5
**Author:** ![kbabilinski](https://sea1.discourse-cdn.com/flex019/user_avatar/forum.magicleap.cloud/kbabilinski/32/19_2.png) [@kbabilinski](https://forum.magicleap.cloud/u/kbabilinski)\ **Post date:** [August 15, 2025, 8:11pm UTC](https://forum.magicleap.cloud/t/how-to-get-intrinsics-for-rgb-and-depth-sensors-how-about-extrinsics-between-the-two/6163/5 "2025-08-15T20:11:09Z")
You’re correct, those two APIs do not return the same reference frame by default. MLCVCamera.GetFramePose() returns the pose in Unbounded tracking space (MLSDK default), which is anchored to the world origin defined by the system. PixelSensorFeature.GetSensorPose() returns the pose in the tracking origin set in your XR Origin (usually Device or Floor space in Unity). This is why you see the large offset. If you need them to align: 1 Make sure your tracking space is set to Unbounded as mentioned in the OpenXR MLCamera doc. 2. To query based on the frame timestamp, See this SDK modification example: > [@Hologram Drift Issue When Tracking Object with Retroreflective Markers using Depth Camera (Raw data)](https://forum.magicleap.cloud/t/hologram-drift-issue-when-tracking-object-with-retroreflective-markers-using-depth-camera-raw-data/5618/8): > > Sorry to hear that you are running into this issue. The team is out of office today but you could look into making a minor change in the SDK itself and see if it resolves your issue. Possibly by modifying a function in the SDK to allow for an additional property to be passed into the Get Pose function. (Note we have not tested this workaround yet) Move the Magic Leap Unity SDK into your project’s packages directory. Make sure the Magic Leap Unity Package is imported into your project as a folde… 3. You also might want to verify the pose is not returning (0,0,0) before processing. This way, both ML Camera and Pixel Sensor poses will report from the same origin. --- _[View the full topic](https://forum.magicleap.cloud/t/how-to-get-intrinsics-for-rgb-and-depth-sensors-how-about-extrinsics-between-the-two/6163)._