The horizontal pixel of IR1 stream and color stream is not identical for D405
D405 has only two cameras. The IR#1 camera and color camera is the same one. I think the pixel coordinate of IR#1 and color is the same. Yet I found about 5 pixels shift between IR#1 image and color image.
The first picture below is an IR#1 image. The marker (white point) is just on the tip.
The second picture is a RGB image. The marker (red point) is on the right of the tip. The marker has the same pixel coordinate in the two cases, but they locates differently in the image.
It seems the color image shifts about -5 pixel compared with IR#1 image. Why they are not the same?
Hi Yinghaogo I tested my D405 on a scene where there was a small notch in an area of it for reliable positioning of the mouse cursor on the two streams. I was able to confirm the horizontal 5 pixel difference between the Infrared 1 and Color coordinates, shown below (x = 690 IR, x = 695 color).
In the next test, I compared the coordinates of Infrared 1 with RGB8 from the left infrared sensor (the D405 can stream both conventional RGB and RGB8 from the left sensor instead of Y8 infrared) and the coordinates were an exact match.
The 5 pixel difference may be a consequence of the method by which the conventional RGB image is generated from the depth sensor (as D405 does not have its own separate RGB sensor component) and then enhanced by the Image Signal Processor (ISP).
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