Why it is challenging to calibrate the RGB sensor with the depth sensor when putting them on different stiffeners?
Hi,
I am looking for a depth camera with small depth error and happened read the following:
"The Intel RealSense D435 camera is based on the Intel RealSense D430 module with an attached, but separate, RGB camera. The depth algorithm is based on precise placements of sensors, so not having them fixed on the same stiffener may make calibration between depth and RGB problematic. However, users of previous-generation cameras said they really wanted the flexibility to choose their own RGB sensors, and so the D435 was born, and while it is more challenging to precisely calibrate color and depth data together using this camera, it is still possible."
I am just curious that why the calibration is challenging when the depth sensor and RGB sensor are put on different stiffeners? I think if the two stiffeners are kept fixed, the difficulty level should be similar with putting them on the same stiffener, right？
Thanks.
Yixun
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Hi Yixun Liu,
The source of that quote is Intel's 'Which RealSense device is right for you' camera model comparison article.
https://www.intelrealsense.com/which-device-is-right-for-you/
The data sheet document for the 400 Series cameras states: "The stiffener is reinforcement housing to keep sensors aligned ... the stiffener maintains the precise alignment of the camera sensors and assists in subassembly rigidity".
Having the depth and RGB sensors on the same stiffener, like on the D455 model, improves depth - color alignment.
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In real-world conditions you may not see a noticable difference between alignment on D435 / D435i and D455. A key area where having the depth and RGB sensors on different PCBs like on the D435 / D435i makes a difference is that depth and RGB sensors will not be able to be synced together when using hardware sync to synchronize stream timestamps to a trigger.
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