Disparity range

[PKolo1]

What is the disparity search range of D4 Vision Processor?

I use D435 camera and estimate it as 0-127 with Disparity Shift = 0.

Is it hardware fixed or can be set up to a different value?

Is it different for other vision processors?

[MartyG]

The product brief sheet for D4 just says that it has a 128 bit disparity search.

I could not find any data about whether the 400 Series' disparity was fixed, but its stereo camera predecessor the R200 had fixed disparity, apparently.

A blog article published a week ago by Sergey "Dorodnic" Dorodnicov, the RealSense SDK Manager, listed one of the challenges that stereoscopic vision products in general have to overcome as "expanding the range of generated disparities from fixed set of integers to achieve sub‑pixel accuracy".

https://realsense.intel.com/stereo-depth-vision-basics/ The basics of stereo depth vision - Intel RealSense

[PKolo1]

Thanks.

After more searching I found another info about 128-disparities search (not 128 bit, obviously)

https://realsense.intel.com/introducing-intel-realsense-d400-product-family/ Introducing Intel® RealSense™ D400 Series Depth Cameras.

Concerning the "expanding the range of generated disparities from fixed set of integers to achieve sub‑pixel accuracy".

It's not connected with disparity range - it means expanding integer disparity representation to float or fixed-point to improve disparity accuracy.

[MartyG]

Thanks for the information. Like everyone else, I'm constantly learning.