Depth FOV Calculation - Wrong Figure in Datasheet

[JKlei5]

Hallo everyone,

I'm refering to the Datasheet of the D435, which can be found here :

https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Intel-RealSense-D400-Series-Datasheet.pdf

Section 4.4 describes the calculations to find the depth FOV for a given distance Z. In the corresponding figure 4-1. the depth FOV angle is wrongly displayed. The angle should be illustrated as seen in my attached PDF.

Right?

Best Regards,

Jan-Felix

[Eliza_D_Intel]

Hello JKlei5, Thank you for your interest in the Intel RealSense D435 camera. The depth map is generated by the overlap of right and left imagers, as the RealSense cameras are using stereo vision technology to provide depth information. Therefore, the image presented in the datasheet is correct. You can check the Project in RealSense SDK 2.0 for more information in regards to the projection mathematics relating the images provided by the RealSense depth devices to their associated 3D coordinate systems. - https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0 Also, you might be interested as well in the RealSense Camera Depth Quality Testing methodology, which covers how to test Stereo Depth Quality and some of the key metrics for evaluating depth quality. - https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/RealSense_DepthQualityTesting.pdf Thank you and best regards, Eliza

[JKlei5]

Thank you for the response.

But that didn't really get to my point. The calculated angle (Depth FOV) in figure 4.-1. of the datasheet isn't marked correctly given the formula on the page above.

When I just take a look at the formula and recreate the geometries, I get the angle shown in the PDF I attached in my initial post. The angle shown in the documentation's figure isn't the same.

Best regards,

Jan-Felix

[Eliza_D_Intel · Accepted solution]

Hello JKlei5, The image in the datasheet is just an approximation for illustrative purposes. It is not meant to be an exact geometrical representation of the formula. Thank you and best regards, Eliza