I would like to know what the meaning calibration numbers displayed by the camera_info tool, and the corresponding calibration model used. Is this documented somewhere? I cannot find it.

First, there is a set of 12 numbers near the top of the file just associated with "Camera":

Camera: 1 (0x0001)

Serial: ...

Model: VF0780

TOF controller version: 9477 (0x2505)

USB backend version: 201918467 (0xc090803)

Calibration

0.999974 0.001318 -0.007029 0.001203 -0.999865 -0.016404 0.007050 -0.016395 0.999841 0.024492 -0.000508 -0.000863

Capacities: Color | Depth | Audio

What do these 12 numbers mean? Also, is there any information about the relative pose difference between the color and depth cameras (translation and rotation)?

Next, there is a set of 11 numbers associated with the "Color Node":

Color Node

Revision: 2028 (0x07ec)

PID: 16534 (0x4096)

VID: 1054 (0x041e)

Calibration

640 480 583.078979 596.203003 320.000000 240.000000 0.022575 -0.162668 0.186138 0.000000 0.000000

I assume the first two numbers are just the width and height of the color images. Judging by my queries of PROPERTY_COLOR_FOCAL_LENGTH and PROPERTY_COLOR_PRINCIPAL_POINT, the third and fourth numbers of the x and y focal lengths and the fifth and sixth numbers are the (x,y) coordinates of the principal point. Is the principal point really at exactly half of the image dimensions? That seems suspicious. What are the rest of the numbers? Lens distortion model? If so, please provide a description of the model used.

Next, and probably of most interest to me, is the "Depth Node":

Depth Node

Revision: 2028 (0x07ec)

PID: 16534 (0x4096)

VID: 1054 (0x041e)

Calibration

320 240 224.501999 230.494003 160.000000 120.000000 -0.170103 0.144064 -0.047699 0.000000 0.000000

Judging by my queries of PROPERTY_DEPTH_FOCAL_LENGTH and PROPERTY_DEPTH_PRINCIPAL_POINT, the third and fourth numbers of the x and y focal lengths and the fifth and sixth numbers are the (x,y) coordinates of the principal point. Again, is the principal point really at exactly half of the image dimensions? And what do the remaining numbers mean? It would be great if someone can provide the models used.

Thanks.

-Scott