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Looking at 【ZR300】Camera & IMU intrinsics and Extrinsics unreliable from API? · Issue #537 · IntelRealSense/librealsense · GitHub . It seems like there is a bug in the calibration process, a Github user recommends this workaround: "I suspect this to be a bug in the calibration process. It seems like MM-Color and MM-Depth tables are empty. As a work-around, I believe you can get the relevant extrinsics by multiplying extrinsics from Depth to FE by extrinsics from FE to MM (this multiplication might cause some small degradation in precision, that's why librealsense tries to read from dedicated tables)"
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