Depth Sensors Comparison
Depth Sensors Support
iPi Recorder supports the following depth sensors:
- Modern depth sensors:
- First generation depth sensors:
First generation depth sensors are almost outdated but still usable. For example, Orbbec Astra (PRO) has totally the same depth quality and resolution as these outdated sensors. For this reason you can use for example MS Kinect v1 sensor(s) and get exactly the same results as with Orbbec Astra sensor(s). If needed you can find more information about these sensors in documentation for previous version of iPi Motion Capture.
As to modern depth sensors, Azure Kinect sensor is the best choice for full body motion capture, while MS Kinect 2 (Kinect for XBOX One) sensor is also good enough. The quality and accuracy of depth maps from Azure Kinects and MS Kinects 2 are the best in market.
Main features of depth sensors:
|Place||Sensor||Price (approx)||Technology||Depth FOV (vertical)||Depth Resolution||Depth FPS||Interface||Multiple Sensors per single PC||External Power Supply||Tripod Mount|
|1||Azure Kinect||$400||Time-of-Flight|| NFOV: 65°
| NFOV: 640x576 (very good quality!)
|30||USB 3.0||yes||optional||yes (1/4″)|
|2||Kinect 2 (Kinect for XBOX One)||$160||Time-of-Flight||60°||512x424 (good quality)||30||USB 3.0||yes||required||yes (1/4″)|
|3||First-gen depth sensors||from $30||Infrared Coded Structured Light||45°||640x480 (interpolated, actual: 320x240 or even less)||30||USB 2.0||yes||not required (except Kinect v1)||no|
|4||Orbbec Astra (PRO)||$160||Infrared Coded Structured Light||45°||640x480 (interpolated, actual: 320x240 or even less)||30||USB 2.0||yes||not required||yes (M6 not 1/4″)|
|5||Intel RealSense D435||$180||Infrared Coded Structured Light combined with stereo RGB matching||65.5° (only 42° for RGB)||up to 1280x720 (but very noisy, inaccurate and with a lot of artifacts like waves and blur!)||up to 90||USB 3.0||yes||not required||yes (1/4″)|
|6||ASUS Xtion 2||$270||Time-of-Flight||52° (can be mounted in vertical position for 74°)||640x480 (interpolated: actual is less than 320x240)||30||USB 3.0||yes||not required||yes (1/4″, dual at bottom and side)|
Major Pros and Cons of depth sensors:
|2||Kinect 2 (Kinect for XBOX One)||
|3||First-generation Depth Sensors||
|4||Orbbec Astra (PRO)||
|5||Intel RealSense D435||
|6||ASUS Xtion 2||
The winners are Azure Kinect and Kinect 2 (Kinect for XBOX One).
First-generation depth sensors and Orbbec Astra (PRO) share the third place.
Note about Intel RealSense D415 and D435
Based on specification Intel RealSense D415 and D435 sensors look very promising. Especially, D435 model which has wider FOV and slightly better quality of depth map.
But actual quality and accuracy of depth map from these sensors are way worse than what we could expect from modern depth sensors:
- huge waves on relatively flat surfaces
- thick blur around objects
- extremely high noise both in spatial and time dimensions
These downsides make Intel sensors almost unusable for full body motion capture tasks.
For this reason we included only D435 model in comparison tables because it's more powerful and advanced compared to D415 but still is not good enough for our needs.
Drivers and Software Libraries
The following sensors don't require special drivers and software to be recognized in iPi Recorder:
- Azure Kinect
- Intel RealSense D415 and D435
- ASUS Xtion 2
That is, you can simply plug in these sensors to computer and make recordings in iPi Recorder without need to install any drivers or SDK's.
Other sensors require special drivers and/or software libraries/SDK to be installed:
- MS Kinect 2 (Kinect for XBOX One) requires MS Kinect SDK 2.0:
- MS Kinect v1 (Kinect for Windows and Kinect for XBOX 360) requires MS Kinect SDK 1.8:
- Orbbec Astra (PRO) requires special drivers:
- ASUS Xtion / ASUS Xtion Live / PrimeSense Carmine require OpenNI 18.104.22.168 and sensor drivers 22.214.171.124: