About make sure FOV specification of D435i
Hi,
Nearly, we need to redesign the application of D435i.
So we need to critical make sure FOV specification.
Currently, using the resolution of 424*240 that approach FOV HD size.
I've three questions.
1. Is FOV range from the intersection or union of between left and right image? (shown as below)
Intersection
Union
2.1. If it's intersection, how many is the min. distance from front cover glass to FOV start point at 424*240 of D435i? (shown as below)
2.2. If it's union, which point is the start point of FOV? (shown as below)
Front Cover Glass
Depth Start Point
3. Where's the center line of FOV at D435i? (shown as below)
Thanks for your helping.
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Hi Getomboy Thanks very much for your questions.
1. Pages 66-68 of the current edition of the data sheet document for the 400 Series cameras describe FOV. The paper states that "The depth field of view is the common overlap of the individual left and right Imager field of view for which Vision Processor D4 provides depth data".
https://dev.intelrealsense.com/docs/intel-realsense-d400-series-product-family-datasheet
2. For 400 Series camera models that have a casing, depth measurement begins at the front glass instead of the camera lenses. You can find the ground truth of measurements by adding a minus-value to measurements, as described at the bottom of page 73 of the current data sheet edition. As suggested by your kindly provided diagrams, on the D435 and D435i models you should add -4.2 mm to the depth measurements to find the ground truth.
3. The origin point of the coordinate system of the 400 Series cameras is the center of the left infrared imager. The left IR imager is on the right side of the camera when viewing it from the front like in the mechanical drawing that you provided.
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