Why is the RGB FOV not wide on the D435?

[MPalm8]

From the specs for the D435:

Depth Field of View (FOV)—(Horizontal × Vertical × Diagonal)91.2 x 65.5 x 100.6 (+/- 3°)RGB Sensor FOV (Horizontal x Vertical x Diagonal)

69.4° x 42.5° x 77° (+/- 3°)

From the specs for the D415:

Depth Field of View (FOV)—(Horizontal × Vertical × Diagonal)69.4° x 42.5° x 77° (+/- 3°)RGB Sensor FOV (Horizontal x Vertical x Diagonal)

69.4° x 42.5° x 77° (+/- 3°)

It seems a bit odd that the D435's RGB and DOF FOV do not match, like they do on the D415. Clearly, they've taken the same RGB camera arrangement and optics and used it for both.

Can anyone comment. Surely this means that a significant part of the depth point cloud will have no RGB values?

Regards,

Max

[idata]

Hello Max,

Thank you for your interest on Intel® RealSense™ Technology.This is not so straightforward. The streams from each of the sensors can be mapped to each other by a complex process called Projection. You should be able to find some information in this link (search for the word "Projection"): https://github.com/IntelRealSense/librealsense/blob/165ae36b350ca950e4180dd6ca03ca6347bc6367/third-party/realsense-file/rosbag/msgs/sensor_msgs/CameraInfo.h. This link contains projection information for the legacy RealSense cameras but will give you an idea of what is involved: https://github.com/IntelRealSense/librealsense/blob/legacy/doc/projection.md. We are working on getting better documentation that describes how projection works on the D400 series.I hope you find this information useful.Please do not hesitate to contact us again if you need further assistance.Best regards. Josh B.Intel Customer Support