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Intel® RealSense™ Depth Camera
D400-Series
(Intel® RealSense™ Depth Camera D415,
Intel® RealSense™ Depth Camera D435)
Datasheet
September 2017
Revision 0.7
Document: XXXXX
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2 Datasheet
Contents
1 Description and Features .................................................................................... 7
2 Introduction ...................................................................................................... 8
2.1 Disclaimer .............................................................................................. 8
2.2 Purpose and Scope of this Document ......................................................... 8
2.3 Terminology ........................................................................................... 8
2.4 Overview ............................................................................................... 9
2.4.1 Intel® RealSense™ Depth Camera D400-Series SKUs .................... 9
2.5 Stereo Vision Depth Technology Overview................................................ 11
2.6 D400-Series Camera Block Diagram ........................................................ 12
2.7 Depth Module ....................................................................................... 13
2.7.1 Left and Right Imagers ............................................................. 15
2.7.2 Infrared Projector .................................................................... 17
2.7.3 Color Camera .......................................................................... 17
2.8 Color Image Signal Processor (ISP) ......................................................... 18
2.9 Intel® RealSense™ Vision Processor D4 Card ........................................... 18
2.9.1 Power Requirements ................................................................ 19
2.10 D400-Series Depth Cameras Thermals .................................................... 20
2.11 Storage and Operating Conditions ........................................................... 20
3 Functional Specification .................................................................................... 21
3.1 Depth Camera ...................................................................................... 21
3.2 Depth Camera Functions ........................................................................ 22
3.3 Color Camera Functions ......................................................................... 23
4 Software Package ............................................................................................ 24
4.1 Intel® RealSense™ Software Development Kit 2.0 .................................... 24
5 Firmware ........................................................................................................ 25
5.1 Firmware Update .................................................................................. 25
5.1.1 Update Limits .......................................................................... 25
5.2 Recovery ............................................................................................. 25
6 Calibration Support .......................................................................................... 26
6.1 Dynamic Calibration Tool ....................................................................... 26
7 Regulatory Compliance ..................................................................................... 27
7.1 System Laser Compliance ...................................................................... 27
7.1.1 Certification Statement............................................................. 27
7.1.2 Explanatory Label .................................................................... 27
7.1.3 Cautionary Statements ............................................................. 27
7.1.4 Safety and Handling Instructions: .............................................. 28
7.1.5 Manufacturer’s Information ....................................................... 28
7.1.6 US FDA Accession Number ........................................................ 28
7.2 Ecology Compliance .............................................................................. 29
8 Mechanical Drawings ........................................................................................ 31
Datasheet 3
Figures
Figure 2-1. Intel® RealSenseTM Depth Camera D415 ............................................ 10
Figure 2-2. Intel® RealSenseTM Depth Camera D435 ............................................ 11
Figure 2-3. Active Infrared (IR) Stereo Vision Technology ..................................... 12
Figure 2-4. Depth Measurement (Z) Versus Range (R) ......................................... 12
Figure 2-5. D415/D435 System Block Diagram .................................................... 13
Figure 2-6. Depth Module in D415 (Intel® RealSense™ Depth Module D415) .......... 14
Figure 2-7. Depth Module in D435 (Intel® RealSense™ Depth Module D430) .......... 14
Figure 2-8. Intel® RealSense™ Vision Processor D4 Card ..................................... 19
Figure 8-1. Intel® RealSense™ Depth Camera D415 ............................................ 31
Figure 8-2. Intel® RealSense™ Depth Camera D435 ............................................ 32
4 Datasheet
Tables
Table 2-1. Product SKU Descriptions .................................................................... 9
Table 2-2. Intel® RealSense™ Depth Camera D415 Mechanical Dimensions ........... 10
Table 2-3. Intel® RealSense™ Depth Camera D435 Mechanical Dimensions ........... 10
Table 2-4. Depth Module .................................................................................. 14
Table 2-5. Depth Module SKU Properties............................................................. 15
Table 2-6. Standard Left and Right Imager Properties (for D415) .......................... 16
Table 2-7. Wide Left and Right Imager Properties (for D435) ................................ 16
Table 2-8. Standard Infrared Projector Parameters .............................................. 17
Table 2-9. Wide Infrared Projector Parameters .................................................... 17
Table 2-10. Color Sensor Properties ................................................................... 18
Table 2-11. ISP Properties ................................................................................ 18
Table 2-12. Intel® RealSense™ Vision Processor D4 Card Components .................. 19
Table 2-13. Power Requirements ....................................................................... 20
Table 2-14. Max Skin Temperature .................................................................... 20
Table 2-15. Storage and Operating Conditions..................................................... 20
Table 3-1. Intel® RealSense™ Depth Camera D400 Series Image Formats ............. 21
Table 3-2. Depth Camera Controls ..................................................................... 22
Table 3-3. RGB (Integrated) Exposed Controls .................................................... 23
Datasheet 5
Revision History
Revision Description Revision Date
Number
0.7 Initial Release September
2017
§§
6 Datasheet
Description and Features
1 Description and Features
Description D415 Features
The Intel® RealSense Depth Camera D415/D435 is an
TM
• Intel® RealSenseTM Vision Processor D4 for real-
USB-powered camera that includes depth sensors and a time depth
RGB sensor. It is ideal for makers, educators, hardware • Up to 1280x720 resolution active stereo depth
prototyping and software development. The camera
• FOV (HxVxD): 69⁰x42⁰x77⁰
peripheral is designed for ease of setup and portability.
• Dual rolling shutter sensors for up to 90FPS deoth
The Intel® RealSenseTM Depth Camera D415/D435
strem
comes with Intel® RealSense™ SDK 2.0 , an open
source and cross platform enabling suite including • Full HD RGB camera calibrated and synchronized to
rappers, sample code and tools. depth data
• Cross-platform open source Intel® RealSenseTM
SDK2.0
Usages/Markets D435 Features
• Augmented Reality, Virtual Reality • Intel® RealSenseTM Vision Processor D4 for real-
• Mobile time depth
• Autonomous Machines • Up to 1280x720 resolution active stereo depth
• Automotive • FOV (HxVxD): 91⁰x65⁰x100⁰
• Broad Market • Dual global shutter sensors for up to 90FPS deoth
strem
•
• Full HD RGB camera calibrated and synchronized to
Minimum System Requirements depth data
• 6th Generation Intel® Processors (Skylake) and • Cross-platform open source Intel® RealSenseTM
above. SDK2.0
• Ubuntu*16.04/Windows*10
§§
Datasheet 7
Introduction
2 Introduction
2.1 Disclaimer
The current version of document is a guide to give an understanding of product details
of Intel® RealSense™ Camera Depth Camera D415/D435. Specifications detail are
subject to change until revision 0.9. Post revision 0.9 will be to address bugs and
issues. Please contact your Intel representative to be notified of changes to this
document and future revision releases.
2.2 Purpose and Scope of this Document
This document captures the specifications for the Intel® RealSense™ Depth Camera
D415/D435. This document provides a project team with the information necessary to
understand and to use Intel® RealSense™ Depth Camera D415/D435.
2.3 Terminology
Term Description
Stereo Camera The distance between the center of the left and right imagers in a stereo
Baseline camera
Depth Depth video streams are like color video streams except each pixel has a
value representing the distance away from the camera instead of color
information
FOV Field Of View (FOV) describes the angular extent of a given scene that is
imaged by a camera. A camera's FOV can be measured horizontally,
vertically, or diagonally
Vision Intel® RealSense™ Vision Processor D4
Processor The Intel RealSense Vision Processor D4 is a purpose-built ASIC for
computing real time depth and accelerating computer vision, at significantly
faster speeds and fraction of the power compared to host based compute.
Depth Module Intel® RealSense™ Depth Module
The Depth Module incorporates the left and right imagers with the IR
projector and RGB color sensor
Host System Computer or SOC connected to Intel® RealSense™ Depth camera
IR Projector This refers to the source of infrared (IR) light used for illuminating a scene,
object, or person to collect depth data.
Imagers RealSense Depth camera system uses a pair of camera sensors referred as
imagers to calculate depth. They are identical cameras configured with
identical settings.
8 Datasheet
Introduction
Term Description
Image Signal Image processing functions to enhance color image quality
Processor (ISP)
Left imager From the perspective of the stereo camera looking out at the world, the left
imager is on the left side of the camera module. Thus, when the user is
facing the RealSense Depth camera, the left imager is actually on the right
side of the camera module.
Lens This refers to the optical component of an imager in the RealSense Depth
module. Its purpose is to focus the incoming light rays onto the CMOS chip in
the imager.
System On Integrated circuit (IC) that integrates all components of a computer
Chip (SOC)
Stereo module This refers to a stiffened module containing at least two imagers. The
distance between the imagers, which is referred to as the baseline or
intraocular spacing, is typically in the range of 20 mm to 70 mm.
Stereo camera This refers to a pair of imagers looking at the same subject from slightly
different perspectives. The difference in the perspectives is used to generate
a depth map by calculating a numeric value for the distance from the imagers
to every point in the scene.
SKU Stock Keeping Unit (SKU) is a unique identifier for distinct products. It is
often used in the scope of naming different versions of a device
TBD To Be Determined. In the context of this document, information will be
available in a later revision.
2.4 Overview
Intel® RealSense™ Depth Camera D400-series is a long range depth camera that
outputs depth video stream. In addition to depth video stream, it can provide color,
and infrared video streams.
2.4.1 Intel® RealSense™ Depth Camera D400-Series SKUs
Table below describes main components that make up the different product SKUs
Table 2-1. Product SKU Descriptions
Component Subcomponent Intel® RealSenseTM Intel® RealSenseTM
Depth Camera D415 Depth Camera D435
Intel®
RealSense™
- √ √
Vision Processor
D4
Standard Stereo X
√
Imagers
Datasheet 9
Introduction
Component Subcomponent Intel® RealSenseTM Intel® RealSenseTM
Depth Camera D415 Depth Camera D435
Wide Stereo Imagers X √
Standard Infrared X
Intel® √
Projector
RealSense™
Depth Module Wide Infrared √
X
Projector
RGB color sensor √ √
Table 2-2. Intel® RealSense™ Depth Camera D415 Mechanical Dimensions
Dimension Min Nominal Max Unit
Width 99 mm
Height 23 mm
Depth 20 mm
Mass 72 gr
Table 2-3. Intel® RealSense™ Depth Camera D435 Mechanical Dimensions
Dimension Min Nominal Max Unit
Width 90 mm
Height 25 mm
Depth 25 mm
Mass 72 gr
Figure 2-1. Intel® RealSenseTM Depth Camera D415
Not Final Version
10 Datasheet
Introduction
Figure 2-2. Intel® RealSenseTM Depth Camera D435
Not Final Version
2.5 Stereo Vision Depth Technology Overview
The Intel® RealSense™ depth camera D400 series uses stereo vision to calculate
depth. The stereo vision implementation consists of a left imager, right imager, and an
optional infrared projector. The infrared projector projects non-visible static IR pattern
to improve depth accuracy in scenes with low texture. The left and right imagers
capture the scene and sends imager data to the depth imaging processor, which
calculates depth values for each pixel in the image by correlating points on the left
image to the right image and via shift between a point on the Left image and the
Right image. The depth pixel values are processed to generate a depth frame.
Subsequent depth frames create a depth video stream.
Datasheet 11
Introduction
Figure 2-3. Active Infrared (IR) Stereo Vision Technology
1) Capture 2) Search
3) Depth
Image
IR Projector
Sensors
The depth pixel value is a measurement from the parallel plane of the imagers and not
the absolute range as illustrated.
Figure 2-4. Depth Measurement (Z) Versus Range (R)
2.6 D400-Series Camera Block Diagram
The D400-Series Cameras has 2 main components, Vision Processor, and Depth
Module. The Vision Processor referred as Intel® RealSense™ Vision Processor D4 is
connecting to the host processor through USB 3.0. The Depth Module incorporates the
left and right imagers with the IR projector and RGB color sensor. The RGB color
sensor data is sent to the Vision Processor via the color Image Signal Processor (ISP).
12 Datasheet
Introduction
Figure 2-5. D415/D435 System Block Diagram
2.7 Depth Module
The Depth Module components are described in Table 2-4. The Depth camera printed
circuit board and components are encapsulated in a common metal stiffener.
Datasheet 13
Introduction
Table 2-4. Depth Module
Component Description
Left & Right Imagers 2 1080p image sensors
Infrared (IR) Projector Class 1 laser compliant
Color Camera 1080p RGB image sensor
Stereo Camera Connector 50 pin connector plug
Privacy LED Indicator when stereo module is streaming data
Stiffener Reinforcement housing to keep imagers aligned
Label Manufacture and product identifier information
Other Components Laser 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 Label
Camera
Right Imager IR Projector Connector Left Imager
14 Datasheet
Introduction
Table 2-5. Depth Module SKU Properties
D400-Series Depth Cameras Intel® RealSense™ Depth Intel® RealSense™ Depth
Camera D415 Camera D435
Depth module Intel® RealSense™ Depth Intel® RealSense™ Depth
Module D415 Module D435
Baseline 55mm 50mm
Left/Right Imagers Type Standard Wide
Left/Right Imagers FOV
H:69.4 / V:42.5/ D:77 H:91.2 / V:65.5 / D:100.6
(degrees)
IR Projector Standard Wide
IR Projector FOV H:80 / V:55 /D:89.3 H:100.4/V:69/D:110.4
Color Sensor OV2740 OV2740
Color Camera FOV H:69.4 / V:42.5/ D:77 H:69.4 / V:42.5/ D:77
Depth Module Dimensions X=83.7mm Y=10mm X=70.7mm Y=14mm
(mm) Z=4.7mm Z=10.53mm
H – Horizontal FOV, V – Vertical FOV, D – Diagonal FOV, X – Length, Y – Breadth, Z –
Thickness
2.7.1 Left and Right Imagers
The Depth Module has two camera sensors referred here as stereo imagers, they are
identical parts and are configured with identical settings. The imagers are labeled
“left” and “right” from the perspective of the camera module looking outward. The
stereo imager pairs are referred as Standard and Wide based on imager field of view.
Datasheet 15
Introduction
Table 2-6. Standard Left and Right Imager Properties (for D415)
Parameter Camera Sensor Properties
Image Sensor OV2740
Active Pixels 1920 × 1080
Sensor Aspect Ratio 16:9
Format 10-bit RAW
F Number f/2.0
Focal Length 1.88mm
Filter Type None
Focus Fixed
Shutter Type Rolling Shutter
Signal Interface MIPI CSI-2, 2X Lanes
Horizontal Field of View 69.4o
Vertical Field of View 42.5o
Diagonal Field of View 77o
Distortion <=1.5%
Table 2-7. Wide Left and Right Imager Properties (for D435)
Parameter Camera Sensor Properties
Image Sensor OV9282
Active Pixels 1280 X 800
Sensor Aspect Ratio 8:5
Format 10-bit RAW
F Number f/2.0
Focal Length 1.93mm
Filter Type None
Focus Fixed
Shutter Type Global Shutter
Signal Interface MIPI CSI-2, 2X Lanes
Horizontal Field of View 91.2o
Vertical Field of View 65.5o
Diagonal Field of View 100.6o
Distortion <=1.5%
16 Datasheet
Introduction
2.7.2 Infrared Projector
The infrared projector improves the ability of the Depth module to determine depth by
projecting a static infrared pattern on the scene to increase texture on low texture
scenes. The infrared projector meets class 1 laser safety under normal operation. The
power delivery and laser safety circuits are on the Depth Module.
Table 2-8. Standard Infrared Projector Parameters
Parameter Properties
Projector Infrared
Pattern Type Static
Illuminating Component Vertical-cavity surface-emitting laser (VCSEL) + Optics
Laser Controller PWM
Optical Power 350mW average, 440mW peak
Laser Wavelength 850nm ± 10 nm nominal @ 20°C
Laser Compliance Class 1, IEC 60825-1:2007 Edition 2, IEC 60825-1:2014
Edition 3
Horizontal Field of Projection 80o
Vertical Field of Projection 55o
Diagonal Field of Projection 89.3o
Table 2-9. Wide Infrared Projector Parameters
Parameter Properties
Projector Infrared
Pattern Type Static
Illuminating Component Vertical-cavity surface-emitting laser (VCSEL) + optics
Laser Controller PWM
Optical Power 350mW average, 4.25W peak
Laser Wavelength 850nm ± 10 nm nominal @ 20°C
Laser Compliance Class 1, IEC 60825-1:2007 Edition 2, IEC 60825-1:2014
Edition 3
Horizontal Field of Projection 100.4o
Vertical Field of Projection 69o
Diagonal Field of Projection 110.4o
2.7.3 Color Camera
The color camera on the depth module in addition to color image provides texture
information. Usages for the texture information include overlay on a depth image to
create a color point cloud and overlay on a 3D model for reconstruction.
Datasheet 17
Introduction
Table 2-10. Color Sensor Properties
Parameter Camera Sensor Properties
Image Sensor OV2740
ISP Discrete
Active Pixels 1920 X 1080
Sensor Aspect Ratio 16:9
Format 10-bit RAW RGB
F Number f/2.0
Focal Length 1.93mm
Filter Type IR Cut Filter
Focus Fixed
Shutter Type Rolling Shutter
Signal Interface MIPI CSI-2, 1 Lane
Vertical Field of View 69.4o
Horizontal Field of View 42.5o
Diagonal Field of View 77o
Distortion <=1.5%
2.8 Color Image Signal Processor (ISP)
The RGB sensor on the depth module sends color data to discrete Image Signal
Processor (ISP) for image adjustments, image scaling and processing functions to help
compensate for inherent inaccuracy in lens and sensor in providing a better image
quality. The processed color image is sent to the Intel® RealSense™ Vision Processor
D4.
Table 2-11. ISP Properties
Parameter ISP Properties
ISP Part Number on Intel® RealSense™ RTS5845
Vision Processor D4 Card
1M-bit Serial Flash for ISP Winbond* W25X10CL or equivalent
Interface To Intel® RealSense™ Vision MIPI CSI-2, 2X Lanes
Processor D4
Interface To RGB Sensor MIPI CSI-2, 1X Lane
2.9 Intel® RealSense™ Vision Processor D4 Card
The Intel® RealSense™ Vision Processor D4 Card enables an easy and quick option
for system integrators to integrate Intel® RealSense™ Vision Processor D4 into a
system.
18 Datasheet
Introduction
Table 2-12. Intel® RealSense™ Vision Processor D4 Card Components
Components Description
The Intel RealSense Vision Processor D4 is a
purpose-built ASIC for computing real time depth
Intel® RealSense™ Vision Processor
and accelerating computer vision, at significantly
D4
faster speeds and fraction of the power compared
to host based compute.
Intel® RealSense™ Vision Processor D4 firmware
16Mb Serial Flash
storage
24MHz Crystal Clock source for Vision Processor
Realtek* ISP with external serial flash Color image signal processor
Camera Receptacle 50 pin receptacle for connection to Depth Module
50 pin connector receptacle for connection to
Tracking Module Receptacle
Tracking Module and/or RGB sensor
USB peripheral connector for connection to Host
USB Type-C
USB3.0 port
External Sensor Sync Connector Interface to external sensor interrupts/sync signals
DC to DC converters powering Intel® RealSense™
Voltage Regulators Vision Processor D4 Card, Depth Module and
Tracking Module
Intel® RealSense™ Vision Processor D4 Card
Mounting holes
secure mounting
Figure 2-8. Intel® RealSense™ Vision Processor D4 Card
2.9.1 Power Requirements
The Depth Camera is powered through VBUS power of the USB connector. The Intel®
RealSense™ Vision Processor D4 Card in turn power sources the Depth Module.
Datasheet 19
Introduction
Table 2-13. Power Requirements
Parameter Min Nom Max Unit
VCC Supply Voltage +/-5% 5V V
ICC Supply Current 700 mA
2.10 D400-Series Depth Cameras Thermals
Table 2-14. Max Skin Temperature
Max Skin Temperature
D400-Series Depth Cameras (25 oC Ambiance
at Open Environment)
D415 43 oC (estimated)
D435 44 oC
2.11 Storage and Operating Conditions
Table 2-15. Storage and Operating Conditions
Condition Description Min Max Unit
oC
Storage (Ambient), Not Operating Temperature -40 70
Humidity Temperature/ RH: 40oC / 90%
Operating(1) (Ambient) Temperature 0 35 oC
NOTE: Component case temperature limits must be met for all operating temperatures.
§§
20 Datasheet
Functional Specification
3 Functional Specification
3.1 Depth Camera
Intel® RealSense™ Depth Camera D400 series provides high quality depth data to a
host system. The depth data is generated with stereo vision technology that is
optionally assisted by an infrared laser projector. Intel® RealSense™ Depth Camera
D400 series has the ability to syncronize with Color camera streams.
Table 3-1. Intel® RealSense™ Depth Camera D400 Series Image Formats
Format Resolution Frame Rate Comment
1280x720 6,15,30
848X480 6,15,30,60,90
640x480 6,15,30,60,90
Z [16 bits] Depth Only Mode
640x360 6,15,30,60,90
480x270 6,15,30,60,90
424x240 6,15,30,60,90
1280x720 6,15,30
848X480 6,15,30,60,90
Y8 [8 bits] 640x480 6,15,30,60,90
L_UYVY [16 bits] Illumination Mode Only
RY8_LY8 [16 bits] 640x360 6,15,30,60,90
480x270 6,15,30,60,90
424x240 6,15,30,60,90
1920x1080 6,15,30
1280x720 6,15,30,60
960x540 6,15,30,60
848x480 6,15,30,60
YUY2 640x480 6,15,30,60 Color channel
640x360 6,15,30,60
424x240 6,15,30,60
320x240 6,15,30,60
320x180 6,15,30,60
1920x1080 25,15 Intel® RealSense™ Camera
960x540 30,15 D415
Calibration [24 bits]
1280x800 30,15 Intel® RealSense™ Camera
640x400 30,15 D435
RY8_LY8 [16 bits] 1920x1080 25,15 Dynamic Calibration for D415
Datasheet 21
Functional Specification
Format Resolution Frame Rate Comment
RY8_LY8 [16 bits] 1280x800 30,15 Dynamic Calibration for D435
NOTE: Depth/RGB are mapped as separated interfaces. The two interfaces work independently
from each other (Virtual channel in MIPI and End Point in USB).
3.2 Depth Camera Functions
Intel® RealSense™ Depth Camera D400 series exposes the following Depth image
settings.
Table 3-2. Depth Camera Controls
Control Description Min Max Default
Manual Exposure(1) (ms) Control sensor exposure period (D415) 1 166 10
Manual Exposure (1)
(ms) Control sensor exposure period (D435) 1 166 2
Manual gain(1) Control sensor digital gain. 16 248 16
(Gain 1.0 = 16)
Laser Power (on/off) Power to IR Projector 0 1 1
(On = 1)
Manual Laser Power (mW) Laser Power setting (30mW steps) 0 360 240
Auto Exposure Mode Auto Exposure Mode. When Auto 0 1 1
(Enable = 1) Exposure is enabled, Exposure and
Gain are set based on the environment
condition
Auto Exposure ROI Perform Auto Exposure on a selected T-0 T-719 T-0
ROI L-0 L-1279 L-0
B-1 B-720 B-1
R-1 R-1280 R-1
Preset Set Controls parameters based on
Camera Usage
NOTES:
1. (1)
Not supported in Auto Exposure Mode
2. T - Top, L – Left, B - Bottom, R – Right
22 Datasheet
Functional Specification
3.3 Color Camera Functions
Table 3-3. RGB (Integrated) Exposed Controls
Control Description Min Max Default
Auto-Exposure Mode Automatically sets the exposure time
and gain for the frame.
Auto-Exposure Priority The setting for the attribute of the
addressed Auto-Exposure Priority
control.
Manual Exposure Time Sets the absolute exposure time when
auto-exposure is disabled.
Backlight Compensation Sets a weighting amount based on
brightness to the frame.
Brightness Sets the amount of brightness applied
when auto-exposure is enabled.
Contrast Sets the amount of contrast based on
the brightness of the scene.
Gain Sets the amount of gain applied to the
frame if auto-exposure is disabled.
Power Line Frequency Specified based on the local power line
frequency for flicker avoidance.
Hue Sets the amount of hue adjustment
applied to the frame.
Saturation Sets the amount of saturation
adjustment applied to the frame.
Sharpness Sets the amount of sharpening
adjustment applied to the frame.
Gamma Sets amount of gamma correction
applied to the frame.
White Balance Sets the white balance when AWB is
Temperature Control disabled.
White Balance Enables or disables the AWB
Temperature Auto algorithm.
(AWB)
§§
Datasheet 23
Software Package
4 Software Package
4.1 Intel® RealSense™ Software Development Kit 2.0
Intel® RealSense™ Software Development Kit 2.0 (SDK 2.0) also known as
LibRealSense, is cross-platform and open source. The SDK contains tools, code
examples and multiple languages wrappers to extract data from the Intel®
RealSense™ depth cameras.
Intel® RealSense SDK 2.0 supports the D415 and D435 Camera.
The SDK is comprised of the following main SW components:
Tools directory:
• Intel® RealSense™ Viewer – A GUI based application for a quick evaluation
of the RealSense camera.
• Depth Quality Test tool for Intel® RealSense™ Camera – A GUI based
application for testing the camera’s depth quality
Debug tools: please use these tools for getting logs or further information for
debugging your application.
Examples directory: Simple applications that demonstrate how to easily use the SDK
APIs to build applications.
Wrappers directory: Wrappers supporting common programming languages and
environments.
The Intel® RealSense™ SDK 2.0 can be found on GitHub:
https://github.com/IntelRealSense/librealsense
§§
24 Datasheet
Firmware
5 Firmware
The firmware contains the operation instructions. Upon runtime, Intel® RealSense™
Depth Camera D400 series loads the firmware and programs the component registers.
If the Intel® RealSense™ Depth Camera D400 series is configured for update or
recovery, the unlocked R/W region of the firmware can be changed.
5.1 Firmware Update
During a firmware update, the Device Firmware Update tool for Intel® RealSense™
technology will issue a device firmware update command to the RealSense D400
series Depth Camera. The RealSense D400 series Depth Camera will then reset into
firmware update mode. The Device Firmware Update tool for Intel® RealSense™
technology uses a single binary file to maintain the firmware image. The Device
Firmware Update tool for Intel® RealSense™ technology compares the firmware
version installed on the camera to the firmware version file to be updated. Based on
the comparison, the Device Firmware Update tool for Intel® RealSense™ technology
will downgrade, upgrade, or skip if the versions match.
The device firmware update tool and firmware binary will be located at the
https://downloadcenter.intel.com/
5.1.1 Update Limits
The firmware update engine does not allow infinite update cycles between older and
current versions of firmware. The engine will establish a baseline version of firmware
based on the latest firmware version installed. The engine will allow a return to a
previous version or baseline version of firmware up to 20 times. After the 20th
update, the engine will only allow an update to a firmware revision higher than the
baseline version.
5.2 Recovery
A read only boot sector is built into firmware which enables basic operation regardless
of the integrity of the operation instructions region. This ensures the imaging system
can function in the case of firmware not be written properly. When a firmware
recovery is required, the Device Firmware Update tool for Intel® RealSense™
technology will communicate with the recovery driver to set the DFU pin low and reset
the imaging system in recovery mode.
Firmware Recovery can also be externally triggered by having controllable interrupt
connected to the Intel® RealSense™ Vision Processor D4 DFU (Device Firmware
Update) pin.
The firmware recovery sequence will be triggered by the firmware client utility. This
client utility will communicate through ACPI _DSM to trigger the controllable interrupt
(GPIO) at the appropriate times. The firmware recovery requires an ACPI _DSM
interface to control the interrupt GPIO in configuring to firmware recovery state. The
_DSM methods and BIOS use the Write to GPIO functions to set the controllable
interrupt.
§§
Datasheet 25
Calibration Support
6 Calibration Support
The Intel® RealSense™ Depth Camera D415/D435 can be connected to PC to retrieve
and write camera calibration parameters via the host system.
6.1 Dynamic Calibration Tool
The name of the tool is: Intel® RealSense™ Dynamic Calibrator, please find it on
https://downloadcenter.intel.com/
There are two types of dynamic calibrations that are supported by the tool:
1. Targeted Dynamic Calibration (Depth Scale Calibration)
2. Target-less Dynamic Calibration (Rectification Calibration)
Refer to the user guide of Intel® RealSense™ Dynamic Calibrator for further
information.
§§
26 Datasheet
Regulatory Compliance
7 Regulatory Compliance
7.1 System Laser Compliance
The Intel® RealSense™ Depth Camera D400-series certification is transferable to the
system and no system recertification is required. However, the following statements
and labels must be included in the user manual of the end product
7.1.1 Certification Statement
This product is classified as a Class 1 Laser Product under the EN/IEC 60825-1, Edition
3 (2014) internationally and IEC60825-1, Edition 2 (2007) in the US.
This product complies with US FDA performance standards under 21 CFR 1040.10 for
laser products except for deviations pursuant to Laser Notice No. 50 dated June 24,
2007.
7.1.2 Explanatory Label
CLASS 1 LASER PRODUCT
EN/IEC 60825-1, 2014 (EU & other)
IEC 60825-1, 2007 (US)
This device complies with US FDA performance standards for laser products
except for deviations pursuant to Laser Notice No. 50 dated June24, 2007.
7.1.3 Cautionary Statements
System integrators should refer to their respective regulatory and
compliance owner to finalize regulatory requirements for a specific
geography.
CAUTION - Use of controls or adjustments or performance of
procedures other than those specified herein may result in hazardous
radiation exposure.
Datasheet 27
Regulatory Compliance
7.1.4 Safety and Handling Instructions:
- Do not power on the product if any external damage was observed.
- Do not attempt to open any portion of this laser product. There are no
user serviceable parts.
- Invisible laser radiation when opened. Avoid direct exposure to beam.
- Do not modify or service the product in any way. Modification or
service of the hardware might cause the emissions to exceed the Class 1
level.
- No magnifying optical elements, such as eye loupes and magnifiers,
are allowed.
- Do not try to update camera firmware that is not officially released for
specific camera module SKU and revision.
7.1.5 Manufacturer’s Information
• Manufactured by Intel Corporation
• 2200 Mission College Blvd., Santa Clara, CA 95054 USA
7.1.6 US FDA Accession Number
Camera US FDA Accession Numbers
Intel® RealSenseTM Depth Camera D415 1420260-006
Intel® RealSense TM
Depth Camera D435 1420260-007
This accession number should be entered into Box B.1 of the Food and Drug
Administration (FDA) 2877 Declaration for Imported Electronic Products Subject to
Radiation Control Standards.
28 Datasheet
Regulatory Compliance
7.2 Ecology Compliance
China RoHS Declaration
产品中有毒有害物质的名称及含量
Hazardous Substances Table
部件名称 有毒有害物质或元素 Hazardous Substance
Component Name 铅 汞 镉 六价铬 多溴联苯 多溴二苯醚
Pb Hg Cd Cr (VI) PBB PBDE
相机
X ○ ○ ○ ○ ○
Camera
印刷电路板组件
X ○ ○ ○ ○ ○
Printed Board Assemblies
三角架
○ ○ ○ ○ ○ ○
Tripod
电缆
○ ○ ○ ○ ○ ○
Cable
○：表示该有毒有害物质在该部件所有均质材料中的含量均在GB/T 26572标准规定的限量要
求以下。
○：Indicates that this hazardous substance contained in all homogeneous
materials of such component is within the limits specified in GB/T 26572.
×：表示该有毒有害物质至少在该部件的某一均质材料中的含量超出GB/T 26572标准规定的
限量要求。
×： Indicates that the content of such hazardous substance in at least a
homogeneous material of such component exceeds the limits specified in GB/T
26572.
对销售之日的所售产品,本表显示我公司供应链的电子信息产品可能包含这些物质。注
意：在所售产品中可能会也可能不会含有所有所列的部件。
This table shows where these substances may be found in the supply chain of our
electronic information products, as of the date of sale of the enclosed product.
Note that some of the component types listed above may or may not be a part of
the enclosed product.
除非另外特别的标注,此标志为针对所涉及产品的环保使用期限标志. 某些可更换的零
部件可能会有一个不同的环保使用期限(例如,电池单元模块).
此环保使用期限只适用于产品在产品手册中所规定的条件下工作.
Datasheet 29
Regulatory Compliance
The Environment-Friendly Use Period (EFUP) for all enclosed products and their
parts are per the symbol shown here, unless otherwise marked. Certain field-
replaceable parts may have a different EFUP (for example, battery modules)
number. The Environment-Friendly Use Period is valid only when the product is
operated under the conditions defined in the product manual.
“In the EU, this symbol means that this product must not be disposed of
with household waste. It is your responsibility to bring it to a designated
collection point for the recycling of waste electrical and electronic
equipment. For more information, please contact your local waste
collection center or your point of purchase of this product.”
§§
30 Datasheet
Mechanical Drawings
8 Mechanical Drawings
Figure 8-1. Intel® RealSense™ Depth Camera D415
Datasheet 31
Mechanical Drawings
Figure 8-2. Intel® RealSense™ Depth Camera D435
§§
32 Datasheet
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