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Is there a list of unpublished modes that do work?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?
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.
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