Intel® RealSense™ Depth Camera D400-Series (Intel® RealSense™ Depth Camera D415, Intel® RealSense™ Depth Camera D435) Datasheet September 2017 Revision 0.
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Contents 1 Description and Features .................................................................................... 7 2 Introduction ...................................................................................................... 8 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 2.11 3 Functional Specification .................................................................................... 21 3.1 3.2 3.3 4 5.2 7.2 Datasheet Dynamic Calibration Tool .........................................
Figures Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 4 2-1. 2-2. 2-3. 2-4. 2-5. 2-6. 2-7. 2-8. 8-1. 8-2. Intel® RealSenseTM Depth Camera D415 ............................................ Intel® RealSenseTM Depth Camera D435 ............................................ Active Infrared (IR) Stereo Vision Technology ..................................... Depth Measurement (Z) Versus Range (R) ......................................... D415/D435 System Block Diagram ...................
Tables Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Datasheet 2-1. Product SKU Descriptions .................................................................... 9 2-2. Intel® RealSense™ Depth Camera D415 Mechanical Dimensions ........... 10 2-3. Intel® RealSense™ Depth Camera D435 Mechanical Dimensions ........... 10 2-4. Depth Module .................................................................................. 14 2-5.
Revision History Revision Number Description 0.
Description and Features 1 Description and Features Description D415 Features The Intel® RealSense Depth Camera D415/D435 is an USB-powered camera that includes depth sensors and a RGB sensor. It is ideal for makers, educators, hardware prototyping and software development. The camera peripheral is designed for ease of setup and portability. TM The Intel® RealSenseTM Depth Camera D415/D435 comes with Intel® RealSense™ SDK 2.
Introduction 2 Introduction 2.1 Disclaimer The current version of document is a guide to give an understanding of product details of Intel® RealSense™ Camera Depth Camera D415/D435. Specifications detail are subject to change until revision 0.9. Post revision 0.9 will be to address bugs and issues. Please contact your Intel representative to be notified of changes to this document and future revision releases. 2.
Introduction Term 2.4 Description Image Signal Processor (ISP) Image processing functions to enhance color image quality Left imager From the perspective of the stereo camera looking out at the world, the left imager is on the left side of the camera module. Thus, when the user is facing the RealSense Depth camera, the left imager is actually on the right side of the camera module. Lens This refers to the optical component of an imager in the RealSense Depth module.
Introduction Subcomponent Intel® RealSenseTM Depth Camera D415 Intel® RealSenseTM Depth Camera D435 Wide Stereo Imagers X √ Standard Infrared Projector √ Wide Infrared Projector X RGB color sensor √ Component Intel® RealSense™ Depth Module X √ √ Table 2-2. Intel® RealSense™ Depth Camera D415 Mechanical Dimensions Dimension Min Nominal Max Unit Width 99 mm Height 23 mm Depth 20 mm Mass 72 gr Table 2-3.
Introduction Figure 2-2. Intel® RealSenseTM Depth Camera D435 Not Final Version 2.5 Stereo Vision Depth Technology Overview The Intel® RealSense™ depth camera D400 series uses stereo vision to calculate depth. The stereo vision implementation consists of a left imager, right imager, and an optional infrared projector. The infrared projector projects non-visible static IR pattern to improve depth accuracy in scenes with low texture.
Introduction Figure 2-3. Active Infrared (IR) Stereo Vision Technology 2) Search 1) Capture 3) Depth Image Sensors IR Projector The depth pixel value is a measurement from the parallel plane of the imagers and not the absolute range as illustrated. Figure 2-4. Depth Measurement (Z) Versus Range (R) 2.6 D400-Series Camera Block Diagram The D400-Series Cameras has 2 main components, Vision Processor, and Depth Module.
Introduction Figure 2-5. D415/D435 System Block Diagram 2.7 Depth Module The Depth Module components are described in Table 2-4. The Depth camera printed circuit board and components are encapsulated in a common metal stiffener.
Introduction Table 2-4. Depth Module Component Description Left & Right Imagers 2 1080p image sensors Infrared (IR) Projector Class 1 laser compliant Color Camera 1080p RGB image sensor Stereo Camera Connector 50 pin connector plug Privacy LED Indicator when stereo module is streaming data Stiffener Reinforcement housing to keep imagers aligned Label Manufacture and product identifier information Other Components Laser Driver, EEPROM, Voltage Regulators, etc. Figure 2-6.
Introduction Table 2-5. Depth Module SKU Properties D400-Series Depth Cameras Intel® RealSense™ Depth Camera D415 Intel® RealSense™ Depth Camera D435 Depth module Intel® RealSense™ Depth Module D415 Intel® RealSense™ Depth Module D435 Baseline 55mm 50mm Left/Right Imagers Type Standard Wide Left/Right Imagers FOV (degrees) H:69.4 / V:42.5/ D:77 H:91.2 / V:65.5 / D:100.6 IR Projector Standard Wide IR Projector FOV H:80 / V:55 /D:89.3 H:100.4/V:69/D:110.
Introduction Table 2-6. Standard Left and Right Imager Properties (for D415) Parameter Image Sensor Active Pixels Camera Sensor Properties OV2740 1920 × 1080 Sensor Aspect Ratio Format 16:9 10-bit RAW F Number f/2.0 Focal Length 1.88mm Filter Type None Focus Fixed Shutter Type Signal Interface Rolling Shutter MIPI CSI-2, 2X Lanes Horizontal Field of View 69.4o Vertical Field of View 42.5o Diagonal Field of View Distortion 77o <=1.5% Table 2-7.
Introduction 2.7.2 Infrared Projector The infrared projector improves the ability of the Depth module to determine depth by projecting a static infrared pattern on the scene to increase texture on low texture scenes. The infrared projector meets class 1 laser safety under normal operation. The power delivery and laser safety circuits are on the Depth Module. Table 2-8.
Introduction Table 2-10. Color Sensor Properties Parameter 2.8 Camera Sensor Properties Image Sensor OV2740 ISP Discrete Active Pixels 1920 X 1080 Sensor Aspect Ratio 16:9 Format 10-bit RAW RGB F Number f/2.0 Focal Length 1.93mm Filter Type IR Cut Filter Focus Fixed Shutter Type Rolling Shutter Signal Interface MIPI CSI-2, 1 Lane Vertical Field of View 69.4o Horizontal Field of View 42.5o Diagonal Field of View 77o Distortion <=1.
Introduction Table 2-12. Intel® RealSense™ Vision Processor D4 Card Components Components Description Intel® RealSense™ Vision Processor D4 The Intel RealSense Vision Processor D4 is a purpose-built ASIC for computing real time depth and accelerating computer vision, at significantly faster speeds and fraction of the power compared to host based compute.
Introduction Table 2-13. Power Requirements Parameter 2.10 VCC Supply Voltage ICC Supply Current Min Nom +/-5% 5V Max Unit V 700 mA D400-Series Depth Cameras Thermals Table 2-14. Max Skin Temperature Max Skin Temperature (25 oC Ambiance D400-Series Depth Cameras at Open Environment) 2.11 D415 43 oC (estimated) D435 44 oC Storage and Operating Conditions Table 2-15.
Functional Specification 3 Functional Specification 3.1 Depth Camera Intel® RealSense™ Depth Camera D400 series provides high quality depth data to a host system. The depth data is generated with stereo vision technology that is optionally assisted by an infrared laser projector. Intel® RealSense™ Depth Camera D400 series has the ability to syncronize with Color camera streams. Table 3-1.
Functional Specification Format Resolution Frame Rate Comment RY8_LY8 [16 bits] 1280x800 30,15 Dynamic Calibration for D435 NOTE: 3.2 Depth/RGB are mapped as separated interfaces. The two interfaces work independently from each other (Virtual channel in MIPI and End Point in USB). Depth Camera Functions Intel® RealSense™ Depth Camera D400 series exposes the following Depth image settings. Table 3-2.
Functional Specification 3.3 Color Camera Functions Table 3-3. RGB (Integrated) Exposed Controls Control Description Auto-Exposure Mode Automatically sets the exposure time and gain for the frame. Auto-Exposure Priority The setting for the attribute of the addressed Auto-Exposure Priority control. Manual Exposure Time Sets the absolute exposure time when auto-exposure is disabled. Backlight Compensation Sets a weighting amount based on brightness to the frame.
Software Package 4 Software Package 4.1 Intel® RealSense™ Software Development Kit 2.0 Intel® RealSense™ Software Development Kit 2.0 (SDK 2.0) also known as LibRealSense, is cross-platform and open source. The SDK contains tools, code examples and multiple languages wrappers to extract data from the Intel® RealSense™ depth cameras. Intel® RealSense SDK 2.0 supports the D415 and D435 Camera.
Firmware 5 Firmware The firmware contains the operation instructions. Upon runtime, Intel® RealSense™ Depth Camera D400 series loads the firmware and programs the component registers. If the Intel® RealSense™ Depth Camera D400 series is configured for update or recovery, the unlocked R/W region of the firmware can be changed. 5.
Calibration Support 6 Calibration Support The Intel® RealSense™ Depth Camera D415/D435 can be connected to PC to retrieve and write camera calibration parameters via the host system. 6.1 Dynamic Calibration Tool The name of the tool is: Intel® RealSense™ Dynamic Calibrator, please find it on https://downloadcenter.intel.com/ There are two types of dynamic calibrations that are supported by the tool: 1. Targeted Dynamic Calibration (Depth Scale Calibration) 2.
Regulatory Compliance 7 Regulatory Compliance 7.1 System Laser Compliance The Intel® RealSense™ Depth Camera D400-series certification is transferable to the system and no system recertification is required. However, the following statements and labels must be included in the user manual of the end product 7.1.1 Certification Statement This product is classified as a Class 1 Laser Product under the EN/IEC 60825-1, Edition 3 (2014) internationally and IEC60825-1, Edition 2 (2007) in the US.
Regulatory Compliance 7.1.4 Safety and Handling Instructions: - Do not power on the product if any external damage was observed. - Do not attempt to open any portion of this laser product. There are no user serviceable parts. - Invisible laser radiation when opened. Avoid direct exposure to beam. - Do not modify or service the product in any way. Modification or service of the hardware might cause the emissions to exceed the Class 1 level.
Regulatory Compliance 7.
Regulatory Compliance The Environment-Friendly Use Period (EFUP) for all enclosed products and their parts are per the symbol shown here, unless otherwise marked. Certain fieldreplaceable parts may have a different EFUP (for example, battery modules) number. The Environment-Friendly Use Period is valid only when the product is operated under the conditions defined in the product manual. “In the EU, this symbol means that this product must not be disposed of with household waste.
Mechanical Drawings 8 Mechanical Drawings Figure 8-1.
Mechanical Drawings Figure 8-2.
