D435 change view orientation
Hi Everyone,
I hope all of you are having an excellent day and thank you very much in advance for reading this. I am using the D435 as a stereo camera for a robot, the main problem I have now is that the camera is mounted approximately 1 m above the ground which means I am having some problems detecting objects very near the ground and sometimes I can even see the sidewalk.
My first reaction to solve this problem would be to rotate the camera 90 degrees (putting it in a vertical position) and of course narrow the horizontal view a lot but also enhance the vertical view allowing me to see objects at my same level of height and on the ground. I know this is is not a traditional orientation of the camera and I struggle a lot to find information supporting if it is possible, I just managed to find that it might be possible: https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/doc_advanced_working_with_screen_rotation.html
I tried to see any sign of how to modify this on the SDK but I did not have any luck, anyone tried to do this? or knows a way to change the orientation of the camera? Thank you very much for your help.
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One possible option would be to use two cameras and arrange them in a vertical stack in an upper and lower arrangement. This would widen the vertical field of view considerably so that the camera did not have to be angled. Paring cameras like this also provides better quality depth data, especially as there is redundancy in the data due to more than one camera's field of view covering the same area in the point where the views overlap.
There should be no problem with facing the camera downwards towards the ground either. A number of RealSense users have done this, suspending the camera up to 3 meters from the ground and observing an object on the ground. It does not require special SDK code to do this, just a physical mount to hold the camera that way.
A good reference for designing a tall robot with forward-facing cameras is the retail robot Tally, as I believe that it mounts its cameras (a lidar camera and a RealSense camera) at about the height that you are using.
https://www.youtube.com/watch?v=k2lBP2dP0is
https://www.youtube.com/watch?v=6NN8kXh-Tpk
3D printing solutions are available for a variety of different mounts for RealSense cameras. Some example can be found at the link below.
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