D405 Focus and Depth of Field vs D430?

• MartyX Grover

  • April 25, 2022 16:42
  • Edited

  Hi Henry, my understanding is that the smaller baseline of the D405 is part of what allows the image to remain in focus down to 7 cm without blurring.  The larger baseline of the D430 could cause the image to blur at the same distance, even if you used a disparity shift to reduce the D430's minimum depth sensing distance from its default 0.1 meters / 10 cm down to 7 cm.

   

  The D430 does not have an RGB sensor though and also does not support streaming of color from its infrared sensor.    Can you confirm that you have a D430 please and not a D435 (which does have an RGB sensor).

   

  If you had a RealSense camera with an RGB sensor such as D435 then you could sharpen a blurry RGB image by maximizing the value of the RealSense SDK's Sharpness RGB option to '100', as demonstrated in the link below with the barcode on a drink bottle.

  https://github.com/IntelRealSense/librealsense/issues/7187#issuecomment-690248295

   

  I tested the D405 with another drink bottle at various distances without altering the default Sharpness value  of '50'.  At the minimum 7 cm distance from the barcode the RGB image clarity is excellent.

   

  

   

  I then moved the camera furter away and captured at 15 cm intervals up unti 45 cm.  This should provide an indication of how a checkerboard image may be rendered at various distances at default Sharpness.

   

  At 15 cm:

   

  

   

  At 30 cm:

   

  

   

  At 45 cm:

   

  

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• Henry

  • April 25, 2022 16:47

  Thanks yes I do have a D435 - sorry for the error.  Increasing sharpness does seem to help so I will use that but the D405 seems to focus a lot closer so may be a better solution though without a dot projector we will need to test.

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