Pixel Aspect Ratio of D4xx cameras
Given a depth pixel in the depthmap, I need to calculate the X,Y,Z of the 3D voxel. For this I need to know the horizontal and vertical angles of the depth 'ray' at row X column Y.
According to the Intel-RealSense-D400-Series-Datasheet, a D435 running at 848*480 is supposed to have an HFoV of 86° and a VFoV of 57°. (In what follows, numbers truncated at 6 digits)
- 848/480 = an aspect ratio of 1.766666
- (Tan(86°/2)*2) / (Tan(57°/2)*2) = an aspect ratio of 1.717479
- I empirically determined that my D435 is 87.759803° x 57.295455° = an aspect ratio of 1.760293, which is much closer to the expected 1.766666
Given a row and column how do I accurately calculate the horizontal and vertical angles?
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The field of view of an image can vary. The SDK's Projection documentation describes the intrinsics involved.
There is a code snippet under the 'Librealsense2' heading for getting the field of view with scripting.
https://github.com/IntelRealSense/librealsense/wiki/API-How-To#get-field-of-view
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