Intel RealSense D415 Narrow-FOV Stereo Depth Camera for 3D Scanning
The Intel RealSense D415 is a narrow-FOV stereo depth camera for controlled object capture, desktop vision, and RGB-D development. Its 65 x 40 degree HD depth field of view concent rates the depth pixels on a smaller scene than the wider D435, while a 55 mm baseline supports short- to mid-range working distances.D415 uses rolling-shutter depth and RGB sensors, an infrared projector, and on-camera D4 stereo processing. A dedicated 1920 x 1080 color stream at 30 fps supports textured point clouds and image-based analysis. It is best evaluated where camera and target movement can be controlled; use a global-shutter alternative for more demanding motion capture.For development, use the RealSense SDK to inspect streams, access calibration data, record datasets, and build C/C++ or Python applications. Match the camera firmware and ROS wrapper to the chosen SDK release; the host remains responsible for recognition, reconstruction and robot behavior.Features Stereo geometry - 55 mm baseline and 0.5-3 m ideal range help define the sensor placement and scene size. On-camera depth computation - The D415 module works with Vision Processor D4 to generate depth before data reaches the host. Active infrared projection - The built-in infrared projector adds texture for active stereo; ambient texture and illumination also influence the result. Motion-aware sensor choice - Rolling-shutter sensing suits controlled capture; consider a global-shutter alternative when the camera or subject moves quickly. Depth stream selection - 1280 x 720 at 30 fps; 848 x 480 at up to 90 fps (USB 3). Choose a profile that the host can sustain alongside the required color and motion streams. Color information - 1920 x 1080 at 30 fps. Use intrinsic and extrinsic calibration when converting pixel coordinates or generating textured point clouds. Clear sensor configuration - This model does not include an IMU. Add a separate motion sensor or choose an inertial-equipped camera if the project needs that data. Compact physical integration - 99 x 23 x 20 mm housing; 64 g nominal (+/-10%). Allow clearance for connectors, cable bend radius and the optical field of view. Developer tooling - Use the compatible RealSense Viewer and SDK examples to inspect streams, record datasets and check calibration before integrating a custom application. System-level validation - Test representative target materials, illumination, motion, host bandwidth and thermal conditions before relying on measurements in an operating robot. Specifications Parameter Value Model Intel RealSense D415 Depth technology Active stereo Depth module D415 Vision processor RealSense Vision Processor D4 Stereo baseline 55 mm Depth imaging Rolling shutter Depth output profiles 1280 x 720 at 30 fps; 848 x 480 at up to 90 fps (USB 3) Depth field of view (H x V) 65 x 40 deg at 2 m, HD 16:9 Ideal working range 0.5-3 m Minimum-Z distance 450 mm at 1280 x 720; 310 mm at 848 x 480 Z-accuracy reference +/-2% at distances up to 2 m, 80% ROI and HD resolution, under datasheet test conditions Depth optical filter All-pass Color output 1920 x 1080 at 30 fps Color field of view (H x V) 69 x 42 deg Inertial measurement unit Not included Host interface USB 3 Type-C Dimensions (W x H x D) 99 x 23 x 20 mm Weight 64 g nominal (+/-10%) Power supply USB bus power; consumption depends on enabled streams and projector settings Validated ambient operating range 0-35 deg C Powered back-case temperature range 0-50 deg C Mounting 1/4-20 tripod attachment and model-specific mounting points; refer to CAD drawings Software RealSense SDK 2.0; C/C++, Python and ROS integrations through compatible SDK/wrapper releases Product Comparison Parameter RealSense D415 RealSense D435 Orbbec Gemini 335 Technology / filter Active stereo; All-pass Active stereo; All-pass Active/passive stereo; all-pass Working range / mode 0.5-3 m ideal 0.3-3 m ideal 0.26-3 m ideal Stereo baseline 55 mm 50 mm 50 mm Depth FOV (H x V) 65 x 40 deg at 2 m, HD 87 x 58 deg at 2 m, HD 90 x 65 deg at 2 m; 1280 x 800 Representative depth output 1280 x 720 at 30 fps; 848 x 480 at up to 90 fps (USB 3) 1280 x 720 at 30 fps; 848 x 480 at up to 90 fps (USB 3) 1280 x 800 at 30 fps Depth sensing / shutter Rolling shutter Global shutter Global shutter Color output 1920 x 1080 at 30 fps 1920 x 1080 at 30 fps 1920 x 1080 at 30 fps IMU No No Yes Connection USB 3 Type-C USB 3 Type-C USB 3 Type-C Protection No IP rating stated No IP rating stated IP5X Software RealSense SDK 2.0 RealSense SDK 2.0 Orbbec SDK Choosing between models: Choose D415 when a narrower depth viewing angle suits the capture volume. D435 and Gemini 335 offer wider global-shutter depth imaging; Gemini 335 also includes an IMU and a taller depth output format.Compare the stated resolution, working distance and sensing mode together. FOV and depth range vary with configuration and scene conditions; changing camera brands also requires checking drivers, coordinate frames, calibration, cabling and mounting.Application.rs-app-grid{display:grid;grid-template-columns:repeat(2,minmax(0,1fr));gap:16px 24px}.rs-app-card{display:grid;grid-template-rows:subgrid;grid-row:span 3;gap:0;margin:0!important}.rs-app-card .rs-app-frame{aspect-ratio:16/9;display:flex;align-items:center;justify-content:center}.rs-app-card img{width:100%;height:100%;object-fit:contain;margin:0}.rs-app-card h3{margin:14px 0 8px!important;line-height:1.35}.rs-app-card p{margin:0!important}.rs-app-text h3{margin:20px 0 8px}.rs-app-text p{margin:0 0 12px}@media(max-width:640px){.rs-app-grid{grid-template-columns:1fr}} Controlled object digitization The narrower 65 x 40 degree depth FOV can concentrate pixels on a smaller target area. Use stable positioning and repeatable illumination when developing textured point clouds for CAD or object-documentation workflows. Body and face geometry capture Combine color and depth for non-contact reconstruction or analysis research. Plan the working distance and subject motion carefully; depth output is not a certified biometric-authentication system. Dimensional inspection trials Evaluate repeatability and absolute error against calibrated targets before using measurements for acceptance decisions. Camera depth resolution is not the same as a metrology-system accuracy specification. Tabletop robot vision Install the camera above or beside a compact work area and check the 450 mm minimum at full depth resolution. The rolling-shutter design favors controlled camera and target motion. AR and virtual content capture Record scene geometry and RGB textures for host-side reconstruction and visualization. Use calibrated projection rather than assuming that the RGB and depth pixel grids match directly. Education and embedded prototyping Explore stereo calibration, infrared projection, filtering, and coordinate transforms through the SDK. Small aerial-platform research is possible only after checking motion sensitivity, payload and environmental constraints. Reference DocumentsDocuments and ManualsD400 Series DatasheetSDK and SoftwareRealSense SDK 2.0FirmwareD400 Firmware ReleasesCAD and DrawingsD400 Camera CAD FilesPacking List SKU Item Quantity Intel-D415 Intel RealSense D415 Depth Camera 1 Stand 1 USB-C Cable 1 FAQ .faq-accordion details{border-bottom:1px solid #e6eef8;padding:14px 0} .faq-accordion summary{list-style:none;cursor:pointer;font-size:16px;font-weight:700;color:#1f2933;position:relative;padding-right:32px} .faq-accordion summary::-webkit-details-marker{display:none} .faq-accordion summary::after{content:"\203A";position:absolute;right:4px;top:50%;transform:translateY(-50%) rotate(90deg);color:#007fff;font-size:28px;line-height:1;transition:transform .2s ease} .faq-accordion details[open] summary::after{transform:translateY(-50%) rotate(270deg)} .faq-accordion p{margin:12px 0 0;color:#4b5563;line-height:1.65} How does D415 differ from the other RealSense model in the comparison?D415 uses a narrower field of view and rolling-shutter depth imagers. D435 uses wider-angle global-shutter depth imagers and a shorter 50 mm baseline.How does it compare with Orbbec Gemini 335?Choose D415 when a narrower depth viewing angle suits the capture volume. D435 and Gemini 335 offer wider global-shutter depth imaging; Gemini 335 also includes an IMU and a taller depth output format. Compare the profile-specific parameters in Product Comparison before changing hardware or software.What depth resolutions and frame rates are available?1280 x 720 at 30 fps; 848 x 480 at up to 90 fps (USB 3). Maximum resolution and maximum frame rate are not necessarily available in the same profile; query the connected device in a compatible Viewer or SDK.How close can the camera measure?450 mm at 1280 x 720; 310 mm at 848 x 480.Can this camera be used outdoors?Stereo depth can be evaluated indoors and outdoors, but illumination, target reflectivity, weather and the enclosure limits still matter. This model should not be assumed weather-sealed.Does the camera include an IMU?No. This model does not include an IMU. A separate motion sensor or an inertial-equipped camera is needed when the application requires accelerometer and gyroscope data.Which software and ROS setup should I use?RealSense SDK 2.0 provides stream access and calibration tools, with C/C++, Python and ROS integration options. Match SDK, firmware, wrapper release and operating system rather than assuming every historical ROS distribution works with the newest package.What should I check for a multi-camera setup?Hardware synchronization requires the correct wiring and compatible operating modes. Sharing a USB hub can constrain simultaneous streams; depth and RGB synchronization depends on the chosen profile and model.How is the camera powered?The camera takes power from its USB connection. Use a suitable data-capable cable and a host port with adequate power and bandwidth; hubs, extensions and multiple cameras should be tested under the full stream load.What is included in the package?The package contains 1 Intel RealSense D415 Depth Camera, 1 Stand, 1 USB-C Cable. Downloadable software and technical files are listed separately in Reference Documents.
