Replace the infrared or color sensor in D435i

• MartyX Grover

  • April 21, 2022 09:29
  • Edited

  Hi Yixun Liu  The sensors in RealSense cameras are not replaceable by users.  It is necessary to purchase a different camera model.  The D455 model has wide sensors with similar FOV size for depth and RGB.

  

   

  Alternatively, if you align color to depth (instead of the more common depth to color) then on a camera model with a smaller color FOV size such as D435 / D435 the color on the aligned image will be stretched out to fit to the larger depth FOV size.

   

  If you are using RGB and depth at the same time then the FPS of one of the streams may sometimes lag.  A method for fixing this is to have auto-exposure enabled and disable a separate RGB option called Auto-Exposure Priority.  Doing so forces the FPS to try to maintain a constant rate instead of being permitted to vary.

   

  

   

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• Yixun Liu

  • April 22, 2022 02:28

  Thank you MargyG!

  I double check the specification from the following link (page 69):

  https://www.intelrealsense.com/wp-content/uploads/2022/03/Intel-RealSense-D400-Series-Datasheet-March-2022.pdf

  I found the depth FPS can reach 30 FPS for 1280x720, Z[16bits]. Actually it should be OK for me. But as I use the command to list the profiles, the FPS is 6 (see bellow). Why it is different from the specification?

  Thanks.

  Yixun

   

   

  Stream Profiles supported by Stereo Module
   Supported modes:
      stream       resolution      fps       format
      Infrared 1    1280x720      @ 6Hz      Y8
      Infrared 1    848x480       @ 10Hz     Y8
      Infrared 1    848x480       @ 6Hz      Y8
      Infrared 1    640x480       @ 30Hz     Y8
      Infrared 1    640x480       @ 15Hz     Y8
      Infrared 1    640x480       @ 6Hz      Y8
      Infrared 1    640x360       @ 30Hz     Y8
      Infrared 1    480x270       @ 60Hz     Y8
      Infrared 1    480x270       @ 30Hz     Y8
      Infrared 1    480x270       @ 15Hz     Y8
      Infrared 1    480x270       @ 6Hz      Y8
      Infrared 1    256x144       @ 90Hz     Y8
      Depth         1280x720      @ 6Hz      Z16
      Depth         848x480       @ 10Hz     Z16
      Depth         848x480       @ 6Hz      Z16
      Depth         640x480       @ 30Hz     Z16
      Depth         640x480       @ 15Hz     Z16
      Depth         640x480       @ 6Hz      Z16
      Depth         640x360       @ 30Hz     Z16
      Depth         480x270       @ 60Hz     Z16
      Depth         480x270       @ 30Hz     Z16
      Depth         480x270       @ 15Hz     Z16
      Depth         480x270       @ 6Hz      Z16
      Depth         256x144       @ 90Hz     Z16

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• MartyX Grover

  • April 22, 2022 10:17
  • Edited

  The only supported FPS for 1280x720 is 6 if the D435i camera is on a USB 2 connection, where the supported resolution / FPS modes of the camera are limited. 

  1280x720 at 30 FPS is accessible when the camera is on a USB 3 connection, on which it can access its full capabilities.  

  If the camera was on a USB 2 connection when the list of profiles was retrieved with a tool such as rs-enumerate-devices then this will be reflected in the list to show the profiles currently supported on USB 2, and not list the modes that would be available on USB 3.

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• Yixun Liu

  • April 24, 2022 02:54

  I did not notice the difference between different USB types.

  Thank you!

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