A new precipitation sensor, the Differential Emissivity Imaging Disdrometer (DEID), is used to provide the first continuous measurements of the mass, diameter, and density of individual hydrometeors. The DEID consists of an infrared camera pointed at a heated aluminum plate. It exploits the contrasting thermal emissivity of water and metal to determine individual particle mass by assuming that energy is conserved during the transfer of heat from the plate to the particle during evaporation. Particle density is determined from a combination of particle mass and morphology. A Multi-Angle Snowflake Camera (MASC) was deployed alongside the DEID to provide refined imagery of particle size and shape. Broad consistency is found between derived mass-diameter and density-diameter relationships and those obtained in prior studies. However, DEID measurements show a generally weaker dependence with size for hydrometeor density and a stronger dependence for aggregate snowflake mass.