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D435i RGB Sensor FOV

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Daisuke Sudo

According to D400 series datasheet, D435i FOV is RGB Sensor FOV (H × V × D): 69.4° × 42.5° × 77° (±3°).
Is this FHD resolution (Aspect Ratio 16:9)?
In VGA resolution (Aspect Ratio 4:3) what value is FOV?

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  • MartyG
    • Edited

    Hi Daisuke Sudo  There is not a clear definition in the 400 Series data sheet about FHD (1920x1080).  Resolutions lower than this are described as HD. 

    The RGB sensor supports up to 1920x1080 though so it could be assumed that FHD is supported (the data sheet's Features section provides the statement "Full HD resolution Image sensors").  Also, the OmniVision 2740 sensor component used for the D435i's RGB is also used for the RealSense L515's RGB, and the L515 data sheet describes in its Features list "Up to 30FPS Color at 1920x1080 (FHD)".

    The 400 Series data sheet only lists an aspect ratio of 16:9 for the color sensor, whilst the depth sensor lists both 4:3 and 16:9.

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  • Daisuke Sudo

    Thanks for your reply.
    In D435i Color Sensor, I’m aware that OV2740 supports 1920x1080 (16:9) as Active pixels.
    Regarding spec "RGB Sensor FOV (H × V × D): 69.4° × 42.5° × 77° (±3°)" , does this spec assume 1920x1080 (16:9) ?
    If changes from RGB image 1920x1080 (16:9) to 640x480 (4:3) on D435i, how does FOV change?
    In RGB image 640x480 (4:3) it seems that FOV angle is lower than H:69.4°.

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  • MartyX Grover

    Those technical details are outside of my knowledge, unfortunately.  I recommend asking on the RealSense GitHub forum, where there are developers and engineers who should be able to provide an answer.  You can do so by visiting the link below and clicking on the New Issue button.

    https://github.com/IntelRealSense/librealsense/issues 

     

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