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How does the D435 produce the lower than maximum resolution output images?

RKaja
Beginner
‎04-13-2020 11:36 AM
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I am performing some calculations regarding the FOV of the RGB module. If I use the 640x480 output resolution, is it correct to say that the final image is simply a cropped version of the original? In which case the HFOV would change from ~70 degrees to ~27 degrees (assuming the focal length [1.88 mm] is the same, and the sensor size is 33% of the total size, since the horizontal resolution is 640/1920 ~= 0.333).

 

Equation I am using:

FOV = 2 * atan( sensor_size / (2*focal_length) )

 

Thanks!

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