Depth Precision of D415

[ASriv7]

What is the depth precision of the D415 camera (i.e. what is the minimum depth change I can observe)? I'm not sure where this value is mentioned in the specifications.

[MartyG]

Officially the error range of the 400 Series cameras is 1% or less. In practice, it may vary depending on how close or far the camera is to what it is observing. For example, depth measuring accuracy may reduce when observing objects at a distance of 3 meters or more.

Depth accuracy may also reduce if you use a resolution lower than 848x400.

At close range, you can try altering the scaling factor of the camera to get the best results.

[ASriv7]

Thank you!

The post you linked suggests that the minimum depth change that can be detected is 1 mm (e.g. I can detect, say, breathing movements up to 1 mm). Is this value mentioned somewhere official?

[MartyG]

I do not have knowledge of documentation regarding the measuring of changes in depth.

[ASriv7]

I think this is what we need:

"The default scale of a D400 device is one millimeter, allowing for a maximum expressive range of ~65 meters. The depth scale can be modified by calling rs2_set_option(...) with RS2_OPTION_DEPTH_UNITS, which specifies the number of metres per one increment of depth. 0.001 would indicate millimeter scale, while 0.01 would indicate centimeter scale."

https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0 https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0