I think I did something a little stupid, and I'd appreciate public confirmation of my bad idea. To shoot in portrait orientation when using the Brown Conrady distortion model, it's not possible to simply swap: width/height, fx/fy, and ppx/ppy, (ignoring the distortion coefficients here for simplicity)?
I did this and then deprojected my point cloud and see a considerably misaligned color to depth. This is expected?
My distortion model is (4) or (RS2_DISTORTION_BROWN_CONRADY).
With the old RealSense camera models, I just turned the camera round (e.g on the side or pointing down) to get a different orientation. It did not work for every feature though - you could track hand joints but not face landmarks.
There have been instances when an R200 camera has been pointed downwards.