先週のIntel Euclid Developer Kitのトライアルに続き、今日はIntel RealSense Camera ZR300のトライアルをしてみました。

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click.intel.com

このZR300、Euclidと同様ロボットの目や環境センシングを目的に開発されたもので、基本センシング機能はEuclidと同等のようです。
大きな違いはEuclidはCPUを持ちスタンドアロンで動作するのに対し、ZR300はPC等に接続して利用するセンシング用カメラデバイスとなっているところです。

基本的にはLinuxが動作環境であり、Intel RealSens SDK for Linux が対応しています。
逆にIntel RealSense SDK for WindowsはZR300非対応となっています。

ただ、librealsenseを利用するとWindowsでもZR300を利用することができます。

 

レンジの違い

近距離、中距離、遠距離でのDepthの取れ方を視覚的に比較してみました。
これによるとZR300はR200よりレンジは狭く、近距離、中距離では黒くなって取れない範囲が多いことがわかりました。
遠距離でもR200よりは認識が減衰する距離が近いことがわかりました。
ということで静的な認識目的ではR200が最もレンジが広そうです。
(ZR300ちょと微妙じゃないか、、?)
屋外でのテストは今回できなかったのでまた実施してみたいと思います。

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また、ZR300の大きな特徴であるジャイロや加速度の値もlibrealseseで取得することができます。

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スペック

スペック詳細は下記ページの"Specification"タブに載っています。
基本的には環境センシング用としてR200っぽい雰囲気ですが、大きな違いとしては加速度、ジャイロセンサーがついていることです。
動体に搭載する場合これらは重要です。

Intel® RealSense™ Development Kit Featuring the ZR300 - Intel® RealSense™ Developer Kits

カメラ系のモードを比較のために列挙してみました。(死ぬほどあったw 
ここからも各カメラの性格の違いが垣間見れて興味深いです。

というわけで、動体への搭載や環境センシング向けに、構成に応じてEuclidとZR300を使い分けると良いですね。

Depth
ZR300 R200 F200
640 x 480 @ 90Hz Z16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 90Hz Z16 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 60Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 90Hz DISPARITY16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 90Hz DISPARITY16 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 30Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 60Hz Z16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 60Hz Z16 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 15Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 60Hz DISPARITY16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 60Hz DISPARITY16 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 5Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 30Hz Z16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 30Hz Z16 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 2Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 30Hz DISPARITY16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 30Hz DISPARITY16 57.5 x 44.8 degrees, distortion = NONE 640 x 240 @ 60Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 90Hz Z16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 90Hz Z16 56.6 x 43.8 degrees, distortion = NONE 640 x 240 @ 30Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 90Hz DISPARITY16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 90Hz DISPARITY16 56.6 x 43.8 degrees, distortion = NONE 640 x 240 @ 15Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 60Hz Z16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 60Hz Z16 56.6 x 43.8 degrees, distortion = NONE 640 x 240 @ 5Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 60Hz DISPARITY16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 60Hz DISPARITY16 56.6 x 43.8 degrees, distortion = NONE 640 x 240 @ 2Hz Z16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 30Hz Z16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 30Hz Z16 56.6 x 43.8 degrees, distortion = NONE  
628 x 468 @ 30Hz DISPARITY16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 30Hz DISPARITY16 56.6 x 43.8 degrees, distortion = NONE  
492 x 372 @ 90Hz Z16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 90Hz Z16 57.5 x 45.1 degrees, distortion = NONE  
492 x 372 @ 90Hz DISPARITY16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 90Hz DISPARITY16 57.5 x 45.1 degrees, distortion = NONE  
492 x 372 @ 60Hz Z16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 60Hz Z16 57.5 x 45.1 degrees, distortion = NONE  
492 x 372 @ 60Hz DISPARITY16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 60Hz DISPARITY16 57.5 x 45.1 degrees, distortion = NONE  
492 x 372 @ 30Hz Z16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 30Hz Z16 57.5 x 45.1 degrees, distortion = NONE  
492 x 372 @ 30Hz DISPARITY16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 30Hz DISPARITY16 57.5 x 45.1 degrees, distortion = NONE  
480 x 360 @ 90Hz Z16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 90Hz Z16 56.4 x 43.8 degrees, distortion = NONE  
480 x 360 @ 90Hz DISPARITY16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 90Hz DISPARITY16 56.4 x 43.8 degrees, distortion = NONE  
480 x 360 @ 60Hz Z16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 60Hz Z16 56.4 x 43.8 degrees, distortion = NONE  
480 x 360 @ 60Hz DISPARITY16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 60Hz DISPARITY16 56.4 x 43.8 degrees, distortion = NONE  
480 x 360 @ 30Hz Z16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 30Hz Z16 56.4 x 43.8 degrees, distortion = NONE  
480 x 360 @ 30Hz DISPARITY16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 30Hz DISPARITY16 56.4 x 43.8 degrees, distortion = NONE  
332 x 252 @ 90Hz Z16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 90Hz Z16 57.4 x 45.2 degrees, distortion = NONE  
332 x 252 @ 90Hz DISPARITY16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 90Hz DISPARITY16 57.4 x 45.2 degrees, distortion = NONE  
332 x 252 @ 60Hz Z16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 60Hz Z16 57.4 x 45.2 degrees, distortion = NONE  
332 x 252 @ 60Hz DISPARITY16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 60Hz DISPARITY16 57.4 x 45.2 degrees, distortion = NONE  
332 x 252 @ 30Hz Z16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 30Hz Z16 57.4 x 45.2 degrees, distortion = NONE  
332 x 252 @ 30Hz DISPARITY16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 30Hz DISPARITY16 57.4 x 45.2 degrees, distortion = NONE  
320 x 240 @ 90Hz Z16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 90Hz Z16 55.7 x 43.2 degrees, distortion = NONE  
320 x 240 @ 90Hz DISPARITY16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 90Hz DISPARITY16 55.7 x 43.2 degrees, distortion = NONE  
320 x 240 @ 60Hz Z16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 60Hz Z16 55.7 x 43.2 degrees, distortion = NONE  
320 x 240 @ 60Hz DISPARITY16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 60Hz DISPARITY16 55.7 x 43.2 degrees, distortion = NONE  
320 x 240 @ 30Hz Z16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 30Hz Z16 55.7 x 43.2 degrees, distortion = NONE  
320 x 240 @ 30Hz DISPARITY16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 30Hz DISPARITY16 55.7 x 43.2 degrees, distortion = NONE  
Color
ZR300 R200 F200
1920 x 1080 @ 30Hz YUYV 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz YUYV 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz YUYV 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 30Hz RGB8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz RGB8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz RGB8 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 30Hz BGR8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz BGR8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz BGR8 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 30Hz RGBA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz RGBA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz RGBA8 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 30Hz BGRA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz BGRA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz BGRA8 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 30Hz RAW16 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 30Hz RAW10 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz YUYV 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 15Hz YUYV 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz YUYV 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz RGB8 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 15Hz RGB8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz RGB8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz BGR8 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 15Hz BGR8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz BGR8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz RGBA8 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 15Hz RGBA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz RGBA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz BGRA8 70 x 42.9 degrees, distortion = NONE
1920 x 1080 @ 15Hz BGRA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 15Hz BGRA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 5Hz YUYV 70 x 42.9 degrees, distortion = NONE
1280 x 720 @ 15Hz YUYV 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz YUYV 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 5Hz RGB8 70 x 42.9 degrees, distortion = NONE
1280 x 720 @ 15Hz RGB8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz RGB8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 5Hz BGR8 70 x 42.9 degrees, distortion = NONE
1280 x 720 @ 15Hz BGR8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz BGR8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 5Hz RGBA8 70 x 42.9 degrees, distortion = NONE
1280 x 720 @ 15Hz RGBA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz RGBA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 5Hz BGRA8 70 x 42.9 degrees, distortion = NONE
1280 x 720 @ 15Hz BGRA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz BGRA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 2Hz YUYV 70 x 42.9 degrees, distortion = NONE
960 x 540 @ 15Hz YUYV 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz YUYV 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 2Hz RGB8 70 x 42.9 degrees, distortion = NONE
960 x 540 @ 15Hz RGB8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz RGB8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 2Hz BGR8 70 x 42.9 degrees, distortion = NONE
960 x 540 @ 15Hz BGR8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz BGR8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 2Hz RGBA8 70 x 42.9 degrees, distortion = NONE
960 x 540 @ 15Hz RGBA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz RGBA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1920 x 1080 @ 2Hz BGRA8 70 x 42.9 degrees, distortion = NONE
960 x 540 @ 15Hz BGRA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz BGRA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 30Hz YUYV 70 x 42.9 degrees, distortion = NONE
848 x 480 @ 15Hz YUYV 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 15Hz YUYV 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 30Hz RGB8 70 x 42.9 degrees, distortion = NONE
848 x 480 @ 15Hz RGB8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 15Hz RGB8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 30Hz BGR8 70 x 42.9 degrees, distortion = NONE
848 x 480 @ 15Hz BGR8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 15Hz BGR8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 30Hz RGBA8 70 x 42.9 degrees, distortion = NONE
848 x 480 @ 15Hz RGBA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 15Hz RGBA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 30Hz BGRA8 70 x 42.9 degrees, distortion = NONE
848 x 480 @ 15Hz BGRA8 69.5 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 15Hz BGRA8 68.4 x 41.8 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz YUYV 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 60Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 60Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz RGB8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 60Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 60Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz BGR8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 60Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 60Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz RGBA8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 60Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 60Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 15Hz BGRA8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 60Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 60Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 5Hz YUYV 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 30Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 30Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 5Hz RGB8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 30Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 30Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 5Hz BGR8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 30Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 30Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 5Hz RGBA8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 30Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 30Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 5Hz BGRA8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 30Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 30Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 2Hz YUYV 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 15Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 15Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 2Hz RGB8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 15Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 15Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 2Hz BGR8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 15Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 15Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 2Hz RGBA8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 15Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 15Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 1280 x 720 @ 2Hz BGRA8 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 15Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 15Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 60Hz YUYV 70 x 42.9 degrees, distortion = NONE
640 x 480 @ 15Hz RAW16 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 480 @ 15Hz RAW16 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 60Hz RGB8 70 x 42.9 degrees, distortion = NONE
640 x 360 @ 15Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 360 @ 15Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 60Hz BGR8 70 x 42.9 degrees, distortion = NONE
640 x 360 @ 15Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 360 @ 15Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 60Hz RGBA8 70 x 42.9 degrees, distortion = NONE
640 x 360 @ 15Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 360 @ 15Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 60Hz BGRA8 70 x 42.9 degrees, distortion = NONE
640 x 360 @ 15Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 360 @ 15Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 30Hz YUYV 70 x 42.9 degrees, distortion = NONE
640 x 360 @ 15Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 640 x 360 @ 15Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 30Hz RGB8 70 x 42.9 degrees, distortion = NONE
424 x 240 @ 15Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 424 x 240 @ 15Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 30Hz BGR8 70 x 42.9 degrees, distortion = NONE
424 x 240 @ 15Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 424 x 240 @ 15Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 30Hz RGBA8 70 x 42.9 degrees, distortion = NONE
424 x 240 @ 15Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 424 x 240 @ 15Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 30Hz BGRA8 70 x 42.9 degrees, distortion = NONE
424 x 240 @ 15Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 424 x 240 @ 15Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz YUYV 70 x 42.9 degrees, distortion = NONE
424 x 240 @ 15Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 424 x 240 @ 15Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz RGB8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 60Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 60Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz BGR8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 60Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 60Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz RGBA8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 60Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 60Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 15Hz BGRA8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 60Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 60Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 5Hz YUYV 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 60Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 60Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 5Hz RGB8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 30Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 30Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 5Hz BGR8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 30Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 30Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 5Hz RGBA8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 30Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 30Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 5Hz BGRA8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 30Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 30Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 2Hz YUYV 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 30Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 30Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 2Hz RGB8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 15Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 15Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 2Hz BGR8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 15Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 15Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 2Hz RGBA8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 15Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 15Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 960 x 540 @ 2Hz BGRA8 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 15Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 15Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 60Hz YUYV 70 x 42.9 degrees, distortion = NONE
320 x 240 @ 15Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 240 @ 15Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 60Hz RGB8 70 x 42.9 degrees, distortion = NONE
320 x 180 @ 15Hz YUYV 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 180 @ 15Hz YUYV 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 60Hz BGR8 70 x 42.9 degrees, distortion = NONE
320 x 180 @ 15Hz RGB8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 180 @ 15Hz RGB8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 60Hz RGBA8 70 x 42.9 degrees, distortion = NONE
320 x 180 @ 15Hz BGR8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 180 @ 15Hz BGR8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 60Hz BGRA8 70 x 42.9 degrees, distortion = NONE
320 x 180 @ 15Hz RGBA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 180 @ 15Hz RGBA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 30Hz YUYV 70 x 42.9 degrees, distortion = NONE
320 x 180 @ 15Hz BGRA8 55 x 42.8 degrees, distortion = MODIFIED_BROWN_CONRADY 320 x 180 @ 15Hz BGRA8 54 x 41.5 degrees, distortion = MODIFIED_BROWN_CONRADY 848 x 480 @ 30Hz RGB8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 30Hz BGR8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 30Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 30Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 15Hz YUYV 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 15Hz RGB8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 15Hz BGR8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 15Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 15Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 5Hz YUYV 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 5Hz RGB8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 5Hz BGR8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 5Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 5Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 2Hz YUYV 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 2Hz RGB8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 2Hz BGR8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 2Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    848 x 480 @ 2Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    640 x 480 @ 60Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 60Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 60Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 60Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 60Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 30Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 30Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 30Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 30Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 30Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 15Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 15Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 15Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 15Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 15Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 5Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 5Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 5Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 5Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 5Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 2Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 2Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 2Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 2Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 480 @ 2Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    640 x 360 @ 60Hz YUYV 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 60Hz RGB8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 60Hz BGR8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 60Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 60Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 30Hz YUYV 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 30Hz RGB8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 30Hz BGR8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 30Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 30Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 15Hz YUYV 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 15Hz RGB8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 15Hz BGR8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 15Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 15Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 5Hz YUYV 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 5Hz RGB8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 5Hz BGR8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 5Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 5Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 2Hz YUYV 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 2Hz RGB8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 2Hz BGR8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 2Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    640 x 360 @ 2Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 60Hz YUYV 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 60Hz RGB8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 60Hz BGR8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 60Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 60Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 30Hz YUYV 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 30Hz RGB8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 30Hz BGR8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 30Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 30Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 15Hz YUYV 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 15Hz RGB8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 15Hz BGR8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 15Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 15Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 5Hz YUYV 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 5Hz RGB8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 5Hz BGR8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 5Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 5Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 2Hz YUYV 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 2Hz RGB8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 2Hz BGR8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 2Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    424 x 240 @ 2Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    320 x 240 @ 60Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 60Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 60Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 60Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 60Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 30Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 30Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 30Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 30Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 30Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 15Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 15Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 15Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 15Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 15Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 5Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 5Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 5Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 5Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 5Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 2Hz YUYV 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 2Hz RGB8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 2Hz BGR8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 2Hz RGBA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 240 @ 2Hz BGRA8 55.4 x 42.9 degrees, distortion = NONE
    320 x 180 @ 60Hz YUYV 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 60Hz RGB8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 60Hz BGR8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 60Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 60Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 30Hz YUYV 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 30Hz RGB8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 30Hz BGR8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 30Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 30Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 15Hz YUYV 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 15Hz RGB8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 15Hz BGR8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 15Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 15Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 5Hz YUYV 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 5Hz RGB8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 5Hz BGR8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 5Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 5Hz BGRA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 2Hz YUYV 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 2Hz RGB8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 2Hz BGR8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 2Hz RGBA8 70 x 42.9 degrees, distortion = NONE
    320 x 180 @ 2Hz BGRA8 70 x 42.9 degrees, distortion = NONE

Infrared

ZR300 (Stereo) R200 (Stereo) F200
640 x 480 @ 90Hz Y8 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 90Hz Y8 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 300Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 90Hz Y16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 90Hz Y16 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 300Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 60Hz Y8 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 60Hz Y8 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 240Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 60Hz Y16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 60Hz Y16 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 240Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 30Hz Y8 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 30Hz Y8 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 120Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
640 x 480 @ 30Hz Y16 57.7 x 44.9 degrees, distortion = NONE 640 x 480 @ 30Hz Y16 57.5 x 44.8 degrees, distortion = NONE 640 x 480 @ 120Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 90Hz Y8 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 90Hz Y8 56.6 x 43.8 degrees, distortion = NONE 640 x 480 @ 60Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 90Hz Y16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 90Hz Y16 56.6 x 43.8 degrees, distortion = NONE 640 x 480 @ 60Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 60Hz Y8 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 60Hz Y8 56.6 x 43.8 degrees, distortion = NONE 640 x 480 @ 30Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 60Hz Y16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 60Hz Y16 56.6 x 43.8 degrees, distortion = NONE 640 x 480 @ 30Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 30Hz Y8 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 30Hz Y8 56.6 x 43.8 degrees, distortion = NONE 640 x 480 @ 15Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
628 x 468 @ 30Hz Y16 56.8 x 43.9 degrees, distortion = NONE 628 x 468 @ 30Hz Y16 56.6 x 43.8 degrees, distortion = NONE 640 x 480 @ 15Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
492 x 372 @ 90Hz Y8 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 90Hz Y8 57.5 x 45.1 degrees, distortion = NONE 640 x 480 @ 5Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
492 x 372 @ 90Hz Y16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 90Hz Y16 57.5 x 45.1 degrees, distortion = NONE 640 x 480 @ 5Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
492 x 372 @ 60Hz Y8 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 60Hz Y8 57.5 x 45.1 degrees, distortion = NONE 640 x 480 @ 2Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
492 x 372 @ 60Hz Y16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 60Hz Y16 57.5 x 45.1 degrees, distortion = NONE 640 x 480 @ 2Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
492 x 372 @ 30Hz Y8 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 30Hz Y8 57.5 x 45.1 degrees, distortion = NONE 640 x 240 @ 300Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
492 x 372 @ 30Hz Y16 57.3 x 44.9 degrees, distortion = NONE 492 x 372 @ 30Hz Y16 57.5 x 45.1 degrees, distortion = NONE 640 x 240 @ 300Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
480 x 360 @ 90Hz Y8 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 90Hz Y8 56.4 x 43.8 degrees, distortion = NONE 640 x 240 @ 240Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
480 x 360 @ 90Hz Y16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 90Hz Y16 56.4 x 43.8 degrees, distortion = NONE 640 x 240 @ 240Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
480 x 360 @ 60Hz Y8 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 60Hz Y8 56.4 x 43.8 degrees, distortion = NONE 640 x 240 @ 120Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
480 x 360 @ 60Hz Y16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 60Hz Y16 56.4 x 43.8 degrees, distortion = NONE 640 x 240 @ 120Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
480 x 360 @ 30Hz Y8 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 30Hz Y8 56.4 x 43.8 degrees, distortion = NONE 640 x 240 @ 60Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
480 x 360 @ 30Hz Y16 56.1 x 43.6 degrees, distortion = NONE 480 x 360 @ 30Hz Y16 56.4 x 43.8 degrees, distortion = NONE 640 x 240 @ 60Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
332 x 252 @ 90Hz Y8 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 90Hz Y8 57.4 x 45.2 degrees, distortion = NONE 640 x 240 @ 30Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
332 x 252 @ 90Hz Y16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 90Hz Y16 57.4 x 45.2 degrees, distortion = NONE 640 x 240 @ 30Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
332 x 252 @ 60Hz Y8 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 60Hz Y8 57.4 x 45.2 degrees, distortion = NONE 640 x 240 @ 15Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
332 x 252 @ 60Hz Y16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 60Hz Y16 57.4 x 45.2 degrees, distortion = NONE 640 x 240 @ 15Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
332 x 252 @ 30Hz Y8 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 30Hz Y8 57.4 x 45.2 degrees, distortion = NONE 640 x 240 @ 5Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
332 x 252 @ 30Hz Y16 57.2 x 44.9 degrees, distortion = NONE 332 x 252 @ 30Hz Y16 57.4 x 45.2 degrees, distortion = NONE 640 x 240 @ 5Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
320 x 240 @ 90Hz Y8 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 90Hz Y8 55.7 x 43.2 degrees, distortion = NONE 640 x 240 @ 2Hz Y8 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
320 x 240 @ 90Hz Y16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 90Hz Y16 55.7 x 43.2 degrees, distortion = NONE 640 x 240 @ 2Hz Y16 67.6 x 53.3 degrees, distortion = INVERSE_BROWN_CONRADY
320 x 240 @ 60Hz Y8 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 60Hz Y8 55.7 x 43.2 degrees, distortion = NONE  
320 x 240 @ 60Hz Y16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 60Hz Y16 55.7 x 43.2 degrees, distortion = NONE  
320 x 240 @ 30Hz Y8 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 30Hz Y8 55.7 x 43.2 degrees, distortion = NONE  
320 x 240 @ 30Hz Y16 55.4 x 43 degrees, distortion = NONE 320 x 240 @ 30Hz Y16 55.7 x 43.2 degrees, distortion = NONE  
Fisheye
ZR300 (Stereo) R200 F200
640 x 480 @ 60Hz RAW8 102 x 86.4 degrees, distortion = FTHETA    
640 x 480 @ 30Hz RAW8 102 x 86.4 degrees, distortion = FTHETA