D435_Manual_V1.0
12
4.
Functional Specification
4.1.
Image Formats
Possible Streams with Gigabit Ethernet
Depth
RGB
90fps
60fps
30fps
25fps
15fps
6fps
1280x720
1920x1080
-
-
-
-
ok
ok
1280x720
1280x720
-
-
ok
ok
ok
ok
960x540
960x540
-
-
ok
ok
ok
ok
848x480
848x480
-
ok
ok
ok
ok
ok
848x480
1920x1080
-
-
-
-
ok
ok
640x480
640x480
ok
ok
ok
ok
ok
ok
640x360
640x360
ok
ok
ok
ok
ok
ok
424x240
424x240
ok
ok
ok
ok
ok
ok
NOTE: The zero series firmware (v.1.3.4) will have only 1280x720 @ 30fps implemented. The
other options will follow with later firmware releases.
4.2.
Depth Field of View (FOV)
Format
FOV
Horizontal FOV (VGA 4:3)
74
Vertical FOV (VGA 4:3)
62
Diagonal FOV (4:3)
88
Horizontal FOV (HD 16:9)
86
Vertical FOV (HD 16:9)
57
Diagonal FOV (HD 16:9)
94
NOTE:
Due to mechanical tolerances of +/-5%, Max and Min FOV values can vary from lens to lens
and module to module by ~ +/- 3 degrees.
The Depth FOV specified is at 2 meters distance.
Depth Field of View (Depth FOV) at any distance (Z) can be calculated using the equation:
Depth FOV = Depth Field of View
HFOV = Horizontal Field of View of Left Imager on Depth Module
B = Baseline
Z = Distance of Scene from Depth Module