1280x720 FPS Wallpaper">
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1280x720 FPS Wallpaper">
Then there's the Resolution. If you have a really low-end PC, you'll have to experiment with lower resolutions until you find the one that suits you the best. As a general rule of thumb, the 1280x720 resolution with a 16:9 aspect ratio should work well on your low-end PC.
Typically, f is about 645 pixels for the D435 1280x720 resolution mode, and about 940 pixels for the D415 1280x720 resolution mode. Target object size in captured image ri [pixel] is expressed by the following equation.
When discussing motion capture by imaging systems, a complete analysis should clearly also address all aspects of capture, including image blur and system shutter artefacts. It is well known that Global Shutter imagers are generally preferred for high speed motion capture because they do not suffer from rolling shutter artefacts [3]. This is also one clear difference between the Intel RealSense Depth Camera D415 which uses rolling shutters, and the D435 model which uses global shutters. Another important difference is that the D435 model has about 5x the light sensitivity. This is extremely important for fast image capture. Concretely this means that while the D415 in a low-light office environment might need 33ms to capture a good quality image, the D435 would only need less than 6ms.In this section we will concentrate on quantifying the motion artefact differences between the D435 and D415 models, so we can better illustrate the conditions under which a D415 model can sufficiently capture motion, and the conditions under which it would become necessary to switch to a D435. It turns out that the motion sensitivity can be very different depending on many factors, such as whether the object or camera is moving, or whether the pattern projector is on or off.In the first experiment, we use a rotating blade with fixed position cameras, and adjust the blade rotation rate from maximum speed down to rest. The blade is placed in front of a surface (wall or curtain). The Intel RealSense depth camera is mounted on a tripod and pointed at the blade. The camera distance is set such that the blade fills most of the FOV (1m for D415, 0.68m for D435). The blade is spun and a sequence of frames (depth, RGB, or point cloud) is captured. Tests are run with both D415 and D435 cameras running at 30 fps and 1280x720 resolution. A variety of conditions are captured with different configurations of blade and background texture, with and without emitter.
Fig. 6. Sequential frames of depth (left) and monochrome images (right) of a rotating blade with a stationary camera and emitter enabled for D415 and D435. Motion blur and depth artifact (evident as false depth values near blade edges)are clearly visible for D415 and absent for D435. Cameras are running at 30fps, 1280x720. 59ce067264