Kinect xbox360 Orientation

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Hi All,
I have install Kinect 360X, and I am able to access the point cloud and depth image; However, Does any one know how to access the Roll,Pitch and Yaw data of the sensor since it has builtin IMU? Indeed, I followed this link ; and subscribed to IMU topic; the orientation is shown zero when i move the kinect; on the other hand, linear acceleration is changes in (x,y,z) and I could not find which one is the yaw?

Any help appreciated. Thanks