Which RGB camera is inside the D435

[HDiet]

Hello,

which RGB-Camera works in the D435? Is it a global or a rolling shutter? I know, that the 2 depth cameras are global shutter, but what´s with the RGB-Camera?

[MartyG · Accepted solution]

Page 36 of the data sheet document for the RealSense 400 Series has the details of the color sensor (an OmniVision OV2740 with rolling shutter).

https://www.intel.co.uk/content/www/uk/en/support/articles/000026827/emerging-technologies/intel-realsense-technology.html

Please left-click on the images below to see the details of the color sensor in full-size.

[HDiet]

thank you very much. But that´s weird. Why do they use global shutter depth cameras and for RGB only a rolling shutter? Is it possible to replace this camera with this one: 1/4" CMOS OV9281 Global Shutter MIPI Interface?

[MartyG]

In RealSense 400 Series cameras, the RGB tends to be used to add optional texture to depth data such as point clouds. Having a fast global shutter would therefore not give as much benefit as is gained from having a global shutter for depth measurements during fast motion. On the caseless depth-module board versions of the 400 Series range, only the D415 model has an RGB sensor integrated into it. The RGB sensor has to be added separately for all the other board models (D400, 410, 420 and 430).

Intel did consider supporting custom RGB sensors on the Vision Processor D4 board (the board that is paired with the depth sensor module board) that could replace the default one but decided against it around March 2018, so the firmware does not support it. It is possible to sync with non-RealSense external cameras though. Here is some information on the subject from an Intel webinar last September:

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Multiple RealSense cameras do not interfere with each other, though they may cause interference in a non-RealSense camera placed in proximity to it.

Inputs from other non-RealSense cameras can be combined. The most important factor is that you know the extrinsic calibration between each of those cameras. Once you have that then you can potentially use the depth camera to project other modalities of data into that 3D space. The only challenge is that you need to figure out how to do the extrinsic calibration between the cameras. An example use would be using depth data to map to a higher resolution.

MIPI may work if V-sync is closely matched with the RealSense camera, though the sync frequency window is very small. It is therefore much easier if only RealSense cameras are used in hardware syncing.

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Intel's paper on multiple cameras has details of setting up sync signals.

https://realsense.intel.com/wp-content/uploads/sites/63/Multiple_Camera_WhitePaper04.pdf

[HDiet]

ok, thank you again for your answer. Ok, then I will try to connect my USB Global Shutter camera with PC and the D430+D4 board to my PC and then they can communicate with each other? When I buy a D430 and a D4 board, where do I get the cable to connect this to boards with each other or is it in the package of the D430 or D4 board?

[Unvisiable]

If you just need an RGB camera, https://www.sinoseen.com may be able to find the right one, I have seen a lot of them here, as for the suitability of D435, need further verification.

[MartyG]

You should be able to sync your USB Global Shutter camera with a D430 if you can successfully make a connection between them using the signal generation instructions in the multiple camera paper. Please feel free to return to the forum any time if you need advice on this.

A cable to connect the Vision Processor D4 and the D430 board is not available to buy and must be custom-made using pin instructions in the 400 Series data sheet document. A much easier approach is to purchase a 'Rigid Interposer' board. This allows you to plug the two boards onto it to create a bridge between the two. The board is available from Intel Authorized Distributor companies, such as FRAMOS:

https://www.framos.com/en/d400-rigid-50-pin-interposer-20737