resolution D435
Hi
I have some questions regarding the resolution of the D435 camera.
When I set a lower resolution for the D435 camera, does the camera than combine pixels and thus lowers the accuracy at a given distance?
Second, When I use the camera at a distance of 90 mm does the depth function still work(it doesn't have to be super accurate)?
Kind regards
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Hi Bertodbbert The optimal depth sensing distance of the D435 model is 848x480. Reducing the resolution can reduce the minimum depth sensing distance of the camera, enabling it to be positioned closer to an object / surface than the default minimum 0.1 m / 10 cm depth sensing distance of the D435.
When the camera moves below the minimum distance then the depth image will begin breaking up. Minimum distance can be reduced by reducing resolution as mentioned above. It does degrade depth precision though. This is described in the section of Intel's camera tuning guide in the link below.
You can also achieve control over minimum distance by increasing the value of an option called Disparity Shift. Increasing Disparity Shift reduces minimum distance, though reduces the maximum observable depth sensing distance too (though this is less of a problem when performing close-range depth sensing). Point number 3 of the section of the camera tuning guide linked to below discusses Disparity Shift.
I would recommend using Disparity Shift to achieve a 90 mm / 9 cm minimum distance. A good range to set Disparity Shift to is between 50 and 100, as this should provide close-range sensing without severely restricting the maximum observable depth range too.
Furthermore, setting the camera's Depth Unit Scale option to '0.0001' instead of the default '0.001' can improve the depth image when sensing small objects at close range, as described in the case linked to below.
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