Appropriate scale for D435i working at distance around 35 centimeter
Hi,
The default scale of a Intel RealSense D400 device is one millimeter.
In our application, the distance from the camera to the object is around 35 centimeter.
I am not sure if I change the scale from 0.001 meter to 0.0001 meter can I get more accurate depth result. The accuracy is actually limited by the depth camera rather than the measurement unit. If it can reach 0.0001 meter accuracy at distance around 35 centimeter, I think I need to make the change. But I am not sure about this.
Thanks.
Yixun
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Hi Yixun Liu You may achieve a better quality depth image with fewer large holes at 0.0001 scale but not one with more accurate depth measurement.
You may be able to consider the RealSense D405 camera model as an alternative to the D435i model if accuracy at close range is your priority. D405 has a short 'stereo baseline' distance between the left and right sensors, has high accuracy and high quality at close range and a default depth scale of 0.01 instead of the 0.001 that the other 400 Series models use as their default scale.
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It looks D405 is a new model released around March 2022. I just checked its specification and it really surprise me that with a shorter base line than D435i but reaches higher depth accuracy. Would you please explain more about this?
Moreover, since D405 can reach submillimeter accuracy I think it should use 0.0001 meter as the default scale. Why use 0.01?
Thank you.
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The D405 and its short baseline is designed to produce best accuracy at a very close range of 7 cm to 50 cm whilst the D435i and its longer baseline provides accuracy over a further distance, with an accuracy rating of <2% at 2 meters.
The section of Intel's Projection documentation linked to below states that in regard to depth unit scale, 0.001 indicates millimeter scale and 0.01 indicates centimeter scale.
https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20#depth-image-formats
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