Changing Fov by cropping images on D405 depth camera
- Trying to replicate the results of Intel's white paper "High-speed capture mode of Intel® RealSense™ Depth Camera D435" on a D405 I have found that the D405s don't react to configurations in the same manner as the D435.
- For example the following configuration is not explicitly supported by the D435 in the data sheet, but for some reason works and produces a narrowed super high speed image: config->enable_stream(RS2_STREAM_DEPTH, 0, 848, 100, RS2_FORMAT_Z16, 300);
- For my project I am interested in cropping the streamed image in the same manner shown in this white paper but would like to know if it is possible to do so, and how I would know i.e.:
Is there a list of unpublished modes that do work?
Is it possible to create my own mode with arbitrary frame dimensions?
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Hi Luke Bowersox The data sheet does not list the 848x100 and 300 FPS mode. It is designed for use only with models equipped with a fast global type shutter on the depth sensor such as D435 / D435i / D435f and D455. The D405 does though also have a global shutter on its depth sensor.
I confirm that the D405 does not list 848x100 / 300 FPS as a supported depth resolution in the RealSense Viewer. It is listed in the Viewer as selectable for D435 / D435i / D435f and D455.
Instead of looking up configurations in the data sheet, entering a particular resolution and FPS combination into the Viewer's options side-panel is a quick and easy way to find out whether that configuration is supported on the specific camera model that you are using. If a combination is unsupported then the settings will automatically change to a different suggested configuration, whilst if it is supported then the resolution and FPS settings will not change,
It is not possible to define a custom field of view size to replicate the 848x100 "center strip" letterbox view but as you suggest, a depth image can be cropped in the X and Y axes. This can be done by defining a bounding box that excludes from the depth image all data outside of the box. This can be a complicated procedure though, as described at the link below.
https://github.com/IntelRealSense/librealsense/issues/2016#issuecomment-403804157
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