D435 Color Camera FOV adn replace it with a camera with wider FOV

Mmahoor

January 30, 2020 20:38

I am using D435 for a research project and the FOV of the color camera is narrow and not suitable for my application. Is it possible to change the color camera with one that has a wider FOV (about 135 deg)? Has anybody made such a change? Is the camera standard? I checked the D435 datasheet and they use ISP RTS-5845 to sense color. Is there any camera with higher FOV that work with this sensor? and what is the model of the D435 color camera?

thanks,

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MartyG

January 30, 2020 22:48

Edited
The data sheet says that the RGB interface to the ISP uses MIPI CSI-2. I recalled some advice a RealSense user provided on the subject of using custom imagers. They said:

"From my understanding these are just standard MIPI CSI-2 camera modules (OV9821 and OV2740), so any modules with similar spec (MP/s, etc.) should work".

The D435 uses for its RGB imager the OmniVision OV2740. The details are on page 37 of the current edition of the data sheet.

https://dev.intelrealsense.com/docs/intel-realsense-d400-series-product-family-datasheet?elq_cid=1206596&erpm_id=1567221

Whilst the FOV of depth sensing can be widened by arranging multiple cameras with overlapping FOVs, I am not so familiar with the procedure for color data, though I am aware of a paper that describes widening the color stream of multiple RGBD cameras into a color panorama.

https://www.researchgate.net/publication/333823548_Stitching_of_depth_and_color_images_from_multiple_RGB-D_sensors_for_extended_field_of_view

Regarding syncing RealSense with a non-RealSense camera, it is possible to do using camera metadata. The link below discusses syncing a RealSense with a StereoLabs ZED camera:

https://github.com/IntelRealSense/librealsense/issues/2186#issuecomment-409944362
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