Intel RealSense Depth Camera D400-Series Datasheet
Intel RealSense Depth CameraD400-Series(Intel RealSense Depth Camera D415,Intel RealSense Depth Camera D435)DatasheetSeptember 2017Revision 0.7Document: XXXXX
You may not use or facilitate the use of this document in connection with any infringement or other legal analysis concerningIntel products described herein. You agree to grant Intel a non-exclusive, royalty-free license to any patent claim thereafterdrafted which includes subject matter disclosed herein.No license (express or implied, by estoppel or otherwise) to any intellectual property rights is granted by this document.Intel technologies’ features and benefits depend on system configuration and may require enabled hardware, software or serviceactivation. Learn more at Intel.com, or from the OEM or retailer.No computer system can be absolutely secure. Intel does not assume any liability for lost or stolen data or systems or anydamages resulting from such losses.The products described may contain design defects or errors known as errata which may cause the product to deviate frompublished specifications. Current characterized errata are available on request.Intel disclaims all express and implied warranties, including without limitation, the implied warranties of merchantability, fitnessfor a particular purpose, and non-infringement, as well as any warranty arising from course of performance, course of dealing, orusage in trade.Intel technologies’ features and benefits depend on system configuration and may require enabled hardware, software or serviceactivation. Learn more at intel.com, or from the OEM or retailer.All information provided here is subject to change without notice. Contact your Intel representative to obtain the latest Intelproduct specifications and roadmaps.Copies of documents which have an order number and are referenced in this document may be obtained by calling 1-800-5484725 or visit www.intel.com/design/literature.htm.By using this document, in addition to any agreements you have with Intel, you accept the terms set forth below.Contact your local Intel sales office or your distributor to obtain the latest specifications and before placing your product order.Intel, RealSense and the Intel logo are trademarks of Intel Corporation in the U.S. and/or other countries.*Other names and brands may be claimed as the property of others.Copyright 2017, Intel Corporation. All rights reserved.2Datasheet
Contents1Description and Features . 72Introduction . 82.12.22.32.42.52.62.72.82.92.102.113Functional Specification . 213.13.23.345.27.2DatasheetDynamic Calibration Tool . 26Regulatory Compliance . 277.18Firmware Update . 255.1.1Update Limits . 25Recovery . 25Calibration Support . 266.17Intel RealSense Software Development Kit 2.0 . 24Firmware . 255.16Depth Camera . 21Depth Camera Functions . 22Color Camera Functions . 23Software Package . 244.15Disclaimer . 8Purpose and Scope of this Document . 8Terminology . 8Overview . 92.4.1Intel RealSense Depth Camera D400-Series SKUs . 9Stereo Vision Depth Technology Overview. 11D400-Series Camera Block Diagram . 12Depth Module . 132.7.1Left and Right Imagers . 152.7.2Infrared Projector . 172.7.3Color Camera . 17Color Image Signal Processor (ISP) . 18Intel RealSense Vision Processor D4 Card . 182.9.1Power Requirements . 19D400-Series Depth Cameras Thermals . 20Storage and Operating Conditions . 20System Laser Compliance .7.1.1Certification Statement.7.1.2Explanatory Label .7.1.3Cautionary Statements .7.1.4Safety and Handling Instructions: .7.1.5Manufacturer’s Information .7.1.6US FDA Accession Number .Ecology Compliance .2727272728282829Mechanical Drawings . 313
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 .Depth Module in D415 (Intel RealSense Depth Module D415) .Depth Module in D435 (Intel RealSense Depth Module D430) .Intel RealSense Vision Processor D4 Card .Intel RealSense Depth Camera D415 .Intel RealSense Depth Camera D435 .10111212131414193132Datasheet
sheet2-1. Product SKU Descriptions . 92-2. Intel RealSense Depth Camera D415 Mechanical Dimensions . 102-3. Intel RealSense Depth Camera D435 Mechanical Dimensions . 102-4. Depth Module . 142-5. Depth Module SKU Properties. 152-6. Standard Left and Right Imager Properties (for D415) . 162-7. Wide Left and Right Imager Properties (for D435) . 162-8. Standard Infrared Projector Parameters . 172-9. Wide Infrared Projector Parameters . 172-10. Color Sensor Properties . 182-11. ISP Properties . 182-12. Intel RealSense Vision Processor D4 Card Components . 192-13. Power Requirements . 202-14. Max Skin Temperature . 202-15. Storage and Operating Conditions. 203-1. Intel RealSense Depth Camera D400 Series Image Formats . 213-2. Depth Camera Controls . 223-3. RGB (Integrated) Exposed Controls . 235
Revision HistoryRevisionNumberDescription0.7Initial ReleaseRevision DateSeptember2017§§6Datasheet
Description and Features1Description and FeaturesDescriptionD415 FeaturesThe Intel RealSense Depth Camera D415/D435 is anUSB-powered camera that includes depth sensors and aRGB sensor. It is ideal for makers, educators, hardwareprototyping and software development. The cameraperipheral is designed for ease of setup and portability.TMThe Intel RealSenseTM Depth Camera D415/D435comes with Intel RealSense SDK 2.0 , an opensource and cross platform enabling suite includingrappers, sample code and tools.Usages/Markets Augmented Reality, Virtual Reality Mobile Autonomous Machines Automotive Broad Market Minimum System Requirements 6th Generation Intel Processors (Skylake) andabove. Intel RealSenseTM Vision Processor D4 for realtime depth Up to 1280x720 resolution active stereo depth FOV (HxVxD): 69⁰x42⁰x77⁰ Dual rolling shutter sensors for up to 90FPS deothstrem Full HD RGB camera calibrated and synchronized todepth data Cross-platform open source Intel RealSenseTMSDK2.0D435 Features Intel RealSenseTM Vision Processor D4 for realtime depth Up to 1280x720 resolution active stereo depth FOV (HxVxD): 91⁰x65⁰x100⁰ Dual global shutter sensors for up to 90FPS deothstrem Full HD RGB camera calibrated and synchronized todepth data Cross-platform open source Intel RealSenseTMSDK2.0 Ubuntu*16.04/Windows*10§§Datasheet7
Introduction2Introduction2.1DisclaimerThe current version of document is a guide to give an understanding of product detailsof Intel RealSense Camera Depth Camera D415/D435. Specifications detail aresubject to change until revision 0.9. Post revision 0.9 will be to address bugs andissues. Please contact your Intel representative to be notified of changes to thisdocument and future revision releases.2.2Purpose and Scope of this DocumentThis document captures the specifications for the Intel RealSense Depth CameraD415/D435. This document provides a project team with the information necessary tounderstand and to use Intel RealSense Depth Camera D415/D435.2.3TerminologyTermDescriptionStereo CameraBaselineThe distance between the center of the left and right imagers in a stereocameraDepthDepth video streams are like color video streams except each pixel has avalue representing the distance away from the camera instead of colorinformationFOVField Of View (FOV) describes the angular extent of a given scene that isimaged by a camera. A camera's FOV can be measured horizontally,vertically, or diagonallyVisionProcessorIntel RealSense Vision Processor D4Depth ModuleThe Intel RealSense Vision Processor D4 is a purpose-built ASIC forcomputing real time depth and accelerating computer vision, at significantlyfaster speeds and fraction of the power compared to host based compute.Intel RealSense Depth ModuleThe Depth Module incorporates the left and right imagers with the IRprojector and RGB color sensor8Host SystemComputer or SOC connected to Intel RealSense Depth cameraIR ProjectorThis refers to the source of infrared (IR) light used for illuminating a scene,object, or person to collect depth data.ImagersRealSense Depth camera system uses a pair of camera sensors referred asimagers to calculate depth. They are identical cameras configured withidentical settings.Datasheet
IntroductionTerm2.4DescriptionImage SignalProcessor (ISP)Image processing functions to enhance color image qualityLeft imagerFrom the perspective of the stereo camera looking out at the world, the leftimager is on the left side of the camera module. Thus, when the user isfacing the RealSense Depth camera, the left imager is actually on the rightside of the camera module.LensThis refers to the optical component of an imager in the RealSense Depthmodule. Its purpose is to focus the incoming light rays onto the CMOS chip inthe imager.System OnChip (SOC)Integrated circuit (IC) that integrates all components of a computerStereo moduleThis refers to a stiffened module containing at least two imagers. Thedistance between the imagers, which is referred to as the baseline orintraocular spacing, is typically in the range of 20 mm to 70 mm.Stereo cameraThis refers to a pair of imagers looking at the same subject from slightlydifferent perspectives. The difference in the perspectives is used to generatea depth map by calculating a numeric value for the distance from the imagersto every point in the scene.SKUStock Keeping Unit (SKU) is a unique identifier for distinct products. It isoften used in the scope of naming different versions of a deviceTBDTo Be Determined. In the context of this document, information will beavailable in a later revision.OverviewIntel RealSense Depth Camera D400-series is a long range depth camera thatoutputs depth video stream. In addition to depth video stream, it can provide color,and infrared video streams.2.4.1Intel RealSense Depth Camera D400-Series SKUsTable below describes main components that make up the different product SKUsTable 2-1. Product SKU DescriptionsDatasheetComponentSubcomponentIntel RealSenseTMDepth Camera D415Intel RealSenseTMDepth Camera D435Intel RealSense Vision ProcessorD4- Standard StereoImagers X9
IntroductionSubcomponentIntel RealSenseTMDepth Camera D415Intel RealSenseTMDepth Camera D435Wide Stereo ImagersX Standard InfraredProjector Wide InfraredProjectorXRGB color sensor ComponentIntel RealSense Depth ModuleX Table 2-2. Intel RealSense Depth Camera D415 Mechanical t23mmDepth20mmMass72grTable 2-3. Intel RealSense Depth Camera D435 Mechanical t25mmDepth25mmMass72grFigure 2-1. Intel RealSenseTM Depth Camera D415Not Final Version10Datasheet
IntroductionFigure 2-2. Intel RealSenseTM Depth Camera D435Not Final Version2.5Stereo Vision Depth Technology OverviewThe Intel RealSense depth camera D400 series uses stereo vision to calculatedepth. The stereo vision implementation consists of a left imager, right imager, and anoptional infrared projector. The infrared projector projects non-visible static IR patternto improve depth accuracy in scenes with low texture. The left and right imagerscapture the scene and sends imager data to the depth imaging processor, whichcalculates depth values for each pixel in the image by correlating points on the leftimage to the right image and via shift between a point on the Left image and theRight image. The depth pixel values are processed to generate a depth frame.Subsequent depth frames create a depth video stream.Datasheet11
IntroductionFigure 2-3. Active Infrared (IR) Stereo Vision Technology2) Search1) Capture3) DepthImageSensorsIR ProjectorThe depth pixel value is a measurement from the parallel plane of the imagers and notthe absolute range as illustrated.Figure 2-4. Depth Measurement (Z) Versus Range (R)2.6D400-Series Camera Block DiagramThe D400-Series Cameras has 2 main components, Vision Processor, and DepthModule. The Vision Processor referred as Intel RealSense Vision Processor D4 isconnecting to the host processor through USB 3.0. The Depth Module incorporates theleft and right imagers with the IR projector and RGB color sensor. The RGB colorsensor data is sent to the Vision Processor via the color Image Signal Processor (ISP).12Datasheet
IntroductionFigure 2-5. D415/D435 System Block Diagram2.7Depth ModuleThe Depth Module components are described in Table 2-4. The Depth camera printedcircuit board and components are encapsulated in a common metal stiffener.Datasheet13
IntroductionTable 2-4. Depth ModuleComponentDescriptionLeft & Right Imagers2 1080p image sensorsInfrared (IR) ProjectorClass 1 laser compliantColor Camera1080p RGB image sensorStereo Camera Connector50 pin connector plugPrivacy LEDIndicator when stereo module is streaming dataStiffenerReinforcement housing to keep imagers alignedLabelManufacture and product identifier informationOther ComponentsLaser Driver, EEPROM, Voltage Regulators, etc.Figure 2-6. Depth Module in D415 (Intel RealSense Depth Module D415)Figure 2-7. Depth Module in D435 (Intel RealSense Depth Module D430)Module LabelRight Imager14IR ProjectorCameraConnectorLeft ImagerDatasheet
IntroductionTable 2-5. Depth Module SKU PropertiesD400-Series Depth CamerasIntel RealSense DepthCamera D415Intel RealSense DepthCamera D435Depth moduleIntel RealSense DepthModule D415Intel RealSense DepthModule D435Baseline55mm50mmLeft/Right Imagers TypeStandardWideLeft/Right Imagers FOV(degrees)H:69.4 / V:42.5/ D:77H:91.2 / V:65.5 / D:100.6IR ProjectorStandardWideIR Projector FOVH:80 / V:55 /D:89.3H:100.4/V:69/D:110.4Color SensorOV2740OV2740Color Camera FOVH:69.4 / V:42.5/ D:77H:69.4 / V:42.5/ D:77Depth Module Dimensions(mm)X 83.7mm Y 10mmZ 4.7mmX 70.7mm Y 14mmZ 10.53mmH – Horizontal FOV, V – Vertical FOV, D – Diagonal FOV, X – Length, Y – Breadth, Z –Thickness2.7.1Left and Right ImagersThe Depth Module has two camera sensors referred here as stereo imagers, they areidentical parts and are configured with identical settings. The imagers are labeled“left” and “right” from the perspective of the camera module looking outward. Thestereo imager pairs are referred as Standard and Wide based on imager field of view.Datasheet15
IntroductionTable 2-6. Standard Left and Right Imager Properties (for D415)ParameterImage SensorActive PixelsCamera Sensor PropertiesOV27401920 1080Sensor Aspect RatioFormat16:910-bit RAWF Numberf/2.0Focal Length1.88mmFilter TypeNoneFocusFixedShutter TypeSignal InterfaceRolling ShutterMIPI CSI-2, 2X LanesHorizontal Field of View69.4oVertical Field of View42.5oDiagonal Field of ViewDistortion77o 1.5%Table 2-7. Wide Left and Right Imager Properties (for D435)ParameterImage SensorActive PixelsSensor Aspect RatioFormatOV92821280 X 8008:510-bit RAWF Numberf/2.0Focal Length1.93mmFilter TypeNoneFocusFixedShutter TypeSignal InterfaceGlobal ShutterMIPI CSI-2, 2X LanesHorizontal Field of View91.2oVertical Field of View65.5oDiagonal Field of ViewDistortion16Camera Sensor Properties100.6o 1.5%Datasheet
Introduction2.7.2Infrared ProjectorThe infrared projector improves the ability of the Depth module to determine depth byprojecting a static infrared pattern on the scene to increase texture on low texturescenes. The infrared projector meets class 1 laser safety under normal operation. Thepower delivery and laser safety circuits are on the Depth Module.Table 2-8. Standard Infrared Projector ern TypeStaticIlluminating ComponentVertical-cavity surface-emitting laser (VCSEL) OpticsLaser ControllerPWMOptical Power350mW average, 440mW peakLaser Wavelength850nm 10 nm nominal @ 20 CLaser ComplianceClass 1, IEC 60825-1:2007 Edition
You may not use or facilitate the use of this document in connection with any infringement or other legal analysis concerning Intel products described herein. You agree to grant Intel a non -exclusive, royalty-free license to any patent claim thereafter drafte
Document Number: 337029 -009 Intel RealSenseTM Product Family D400 Series Datasheet Intel RealSense Vision Processor D4, Intel RealSense Vision Processor D4 Board, Intel RealSense Vision Processor D4 Board V2, Intel RealSense Vision Processor D4 Board V3, Intel RealSense Depth Module D400, Intel RealSense Depth Module D410, Intel
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GE's Multilin D400 is a secure, hardened, advanced substation gateway that collects metering, status, event, and fault report data from serial or LAN based intelligent substation devices. The Multilin D400 summarizes data from the substation devices and makes it available locally /remotely through a standard secure web browser (HTTPS).
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D435i IMU Calibration Revision 001 January 2019 By Daniel J. Mirota, Ph.D. Senior Machine Learning Engineer, Intel Corporation James Scaife Jr Senior Customer Engineer, Intel Corporation . 2 INFORMATION IN THIS DOCUMENT IS PROVIDED IN CONNECTION WITH INTEL PRODUCTS. NO LICENSE, EXPRESS OR IMPLIED, BY ESTOPPEL
Tutorial: Using Intel RealSense Technology in the Unreal Engine* 3 - Part 2 Setting Up Visual Studio 2010 for the Example Game The steps below set your map file as the default map of the Example game by modifying the .ini file. 1. Go to UE3 Source \ExmapleGame\Config. 2. Open DefaultEngine.ini and change as below. [URL] MapExt umap
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