Difference between revisions of "Depth Sensors Comparison"

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(Azure Kinect)
(RealSense D455 and L515)
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[[iPi Recorder]] supports the following depth sensors:
 
[[iPi Recorder]] supports the following depth sensors:
* Modern depth sensors:
+
 
 +
* '''Modern depth sensors''':
 
** [https://azure.microsoft.com/en-in/services/kinect-dk/ Azure Kinect]
 
** [https://azure.microsoft.com/en-in/services/kinect-dk/ Azure Kinect]
 
** MS Kinect 2 ([https://www.amazon.com/gp/product/B00INAX3Q2/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B00INAX3Q2&linkId=da247a196e84f14c2b61c08d18af20d9 XBOX One Kinect] sensor plus [https://www.amazon.com/gp/product/B01GVE4YB4/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B01GVE4YB4&linkId=9badef6020066e1ff88608b3bdd77734 Kinect Adapter for Windows])
 
** MS Kinect 2 ([https://www.amazon.com/gp/product/B00INAX3Q2/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B00INAX3Q2&linkId=da247a196e84f14c2b61c08d18af20d9 XBOX One Kinect] sensor plus [https://www.amazon.com/gp/product/B01GVE4YB4/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B01GVE4YB4&linkId=9badef6020066e1ff88608b3bdd77734 Kinect Adapter for Windows])
 +
**:{{Important|Multiple MS Kinect 2 (Kinect for XBOX One) sensors can be connected to a PC [[Multiple_Kinects_v2_on_a_Single_PC|with libfreenect2 library]]. With Microsoft SDK v2, each Kinect should be connected to a separate computer and [[Distributed Recording]] utilized.}}
 +
** [https://www.intelrealsense.com/lidar-camera-l515/ Intel RealSense L515]
 +
** [https://www.intelrealsense.com/depth-camera-d455/ Intel RealSense D455]
 
** [https://www.amazon.com/gp/product/B0748LHXTX/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B0748LHXTX&linkId=99e13fb4588e2861884dc70a34e0ee15 Orbbec Astra (PRO)]
 
** [https://www.amazon.com/gp/product/B0748LHXTX/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B0748LHXTX&linkId=99e13fb4588e2861884dc70a34e0ee15 Orbbec Astra (PRO)]
** [https://click.intel.com/intelr-realsensetm-depth-camera-d435.html Intel RealSense D435] and [https://click.intel.com/intelr-realsensetm-depth-camera-d415.html D415]
 
** [https://www.amazon.com/gp/product/B0767K32JN/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B0767K32JN&linkId=b49366fde9cdb89d9dd3b3c0fc91f034 ASUS Xtion 2]
 
  
 
<center><table border=0><tr>
 
<center><table border=0><tr>
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   <td width="18%"><center>[[Image:Kinect-2-for-XboxOne.jpg|thumb|Kinect 2 (Kinect for XBOX One)]]</center></td>
 
   <td width="18%"><center>[[Image:Kinect-2-for-XboxOne.jpg|thumb|Kinect 2 (Kinect for XBOX One)]]</center></td>
 
   <td width="2.5%"></td>
 
   <td width="2.5%"></td>
   <td width="18%"><center>[[Image:Orbbec-Astra.jpg|thumb|Orbbec Astra (PRO)]]</center></td>
+
   <td width="18%"><center>[[Image:RealSenseL515.jpg|thumb|Intel RealSense L515]]</center></td>
 
   <td width="2.5%"></td>
 
   <td width="2.5%"></td>
   <td width="18%"><center>[[Image:Intel-RealSense-D415-and-D435.jpg|thumb|Intel RealSense D415 and D435]]</center></td>
+
   <td width="18%"><center>[[Image:RealSenseD455.jpg|thumb|Intel RealSense D455]]</center></td>
 
   <td width="2.5%"></td>
 
   <td width="2.5%"></td>
   <td width="18%"><center>[[Image:ASUS-Xtion2.jpg|thumb|ASUS Xtion 2]]</center></td>
+
   <td width="18%"><center>[[Image:Orbbec-Astra.jpg|thumb|Orbbec Astra (PRO)]]</center></td>
 
</tr></table></center>
 
</tr></table></center>
  
* First generation depth sensors:
+
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.
 +
 
 +
* '''First generation depth sensors''':
 
** MS Kinect v1 ([https://www.amazon.com/gp/product/B00KZIVEXO/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B00KZIVEXO&linkId=7befb1e430ea4c5e74df7f3c88cbb4dd Kinect for Windows] sensor or [https://www.amazon.com/gp/product/B005GA1H4C/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B005GA1H4C&linkId=13d4fc04342fcf68688afe263a34273e Microsoft Xbox 360 Kinect Sensor] sensor plus [https://www.amazon.com/gp/product/B004S7GA46/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B004S7GA46&linkId=e5e252928fe7345bac08aa2b657c30c1 adapter])
 
** MS Kinect v1 ([https://www.amazon.com/gp/product/B00KZIVEXO/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B00KZIVEXO&linkId=7befb1e430ea4c5e74df7f3c88cbb4dd Kinect for Windows] sensor or [https://www.amazon.com/gp/product/B005GA1H4C/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B005GA1H4C&linkId=13d4fc04342fcf68688afe263a34273e Microsoft Xbox 360 Kinect Sensor] sensor plus [https://www.amazon.com/gp/product/B004S7GA46/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B004S7GA46&linkId=e5e252928fe7345bac08aa2b657c30c1 adapter])
 
** [http://www.asus.com/Multimedia/Motion_Sensor/Xtion_PRO/ ASUS Xtion] and [http://www.asus.com/Multimedia/Motion_Sensor/Xtion_PRO_LIVE/ ASUS Xtion Live] devices (and also PRO modifications for developers)
 
** [http://www.asus.com/Multimedia/Motion_Sensor/Xtion_PRO/ ASUS Xtion] and [http://www.asus.com/Multimedia/Motion_Sensor/Xtion_PRO_LIVE/ ASUS Xtion Live] devices (and also PRO modifications for developers)
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First generation depth sensors are almost outdated but still usable. For example, [https://www.amazon.com/gp/product/B0748LHXTX/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B0748LHXTX&linkId=99e13fb4588e2861884dc70a34e0ee15 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 [http://wiki.ipisoft.com/Depth_Sensors_Comparison documentation for previous version of iPi Motion Capture].
 
First generation depth sensors are almost outdated but still usable. For example, [https://www.amazon.com/gp/product/B0748LHXTX/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B0748LHXTX&linkId=99e13fb4588e2861884dc70a34e0ee15 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 [http://wiki.ipisoft.com/Depth_Sensors_Comparison 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.
+
* '''Outdated and not recommended depth sensors''':
 +
** [https://www.intelrealsense.com/depth-camera-d435/ Intel RealSense D435] and [https://www.intelrealsense.com/depth-camera-d415/ D415]
 +
** [https://www.amazon.com/gp/product/B0767K32JN/ref=as_li_tl?ie=UTF8&tag=wwwipisoftcom-20&camp=1789&creative=9325&linkCode=as2&creativeASIN=B0767K32JN&linkId=b49366fde9cdb89d9dd3b3c0fc91f034 ASUS Xtion 2]
 +
 
 +
<center><table border=0><tr>
 +
  <td width="48%"><center>[[Image:Intel-RealSense-D415-and-D435.jpg|thumb|Intel RealSense D415 and D435]]</center></td>
 +
  <td width="4%"></td>
 +
  <td width="48%"><center>[[Image:ASUS-Xtion2.jpg|thumb|ASUS Xtion 2]]</center></td>
 +
</tr></table></center>
  
{{Important|Multiple MS Kinect 2 (Kinect for XBOX One) sensors can be connected to a PC [[Multiple_Kinects_v2_on_a_Single_PC|with libfreenect2 library]]. With Microsoft SDK v2, each Kinect should be connected to a separate computer and [[Distributed Recording]] utilized.}}
 
  
 
== Comparison ==
 
== Comparison ==
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| 2 || Kinect 2 (Kinect for XBOX One) || $160 || [https://en.wikipedia.org/wiki/Time-of-flight_camera Time-of-Flight] || 60° || 512x424 (good quality) || 30 || USB 3.0 || yes || required || yes (1/4″)
 
| 2 || Kinect 2 (Kinect for XBOX One) || $160 || [https://en.wikipedia.org/wiki/Time-of-flight_camera Time-of-Flight] || 60° || 512x424 (good quality) || 30 || USB 3.0 || yes || required || yes (1/4″)
 
|-
 
|-
| 3 || First-gen depth sensors || from $30 || [https://en.wikipedia.org/wiki/Structured_light Infrared Coded Structured Light] || 45° || 640x480 (interpolated, actual: 320x240 or even less) || 30 || USB 2.0 || yes || not required (except Kinect v1) || no
+
| 3 || PrimeSense L515 || $350 || [https://en.wikipedia.org/wiki/Time-of-flight_camera Time-of-Flight] || 55° || up to 1024x768 || 30 || USB 3.0 || yes || not required || yes (1/4″)
 
|-
 
|-
| 4 || Orbbec Astra (PRO) || $160 || [https://en.wikipedia.org/wiki/Structured_light Infrared Coded Structured Light] || 45° || 640x480 (interpolated, actual: 320x240 or even less) || 30 || USB 2.0 || yes || not required || yes (M6 not 1/4″)
+
| 4 || PrimeSense D455 || $240 || [https://en.wikipedia.org/wiki/Structured_light Infrared Coded Structured Light] combined with stereo RGB matching || 57° || up to 1280x720 (but noisy!) || up to 90 || USB 3.0 || yes || not required || yes (1/4″)
 
|-
 
|-
| 5 || Intel RealSense D435 || $180 || [https://en.wikipedia.org/wiki/Structured_light 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″)
+
| 5 || First-gen depth sensors || from $30 || [https://en.wikipedia.org/wiki/Structured_light Infrared Coded Structured Light] || 45° || 640x480 (interpolated, actual: 320x240 or even less) || 30 || USB 2.0 || yes || not required (except Kinect v1) || no
 
|-
 
|-
| 6 || ASUS Xtion 2 || $270 || [https://en.wikipedia.org/wiki/Time-of-flight_camera 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)
+
| 6 || Orbbec Astra (PRO) || $160 || [https://en.wikipedia.org/wiki/Structured_light Infrared Coded Structured Light] || 45° || 640x480 (interpolated, actual: 320x240 or even less) || 30 || USB 2.0 || yes || not required || yes (M6 not 1/4″)
 +
|-
 +
| 7 || Intel RealSense D435 || $180 || [https://en.wikipedia.org/wiki/Structured_light 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″)
 +
|-
 +
| 8 || ASUS Xtion 2 || $270 || [https://en.wikipedia.org/wiki/Time-of-flight_camera 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)
 
|}
 
|}
  
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* Does not work on Windows 7 (requires Windows 8 and higher)
 
* Does not work on Windows 7 (requires Windows 8 and higher)
 
|-
 
|-
| 3 || First-generation Depth Sensors ||  
+
| 3 || Intel RealSense L515 ||
 +
* Good resolution and quality of depth map
 +
* Very compact
 +
* Has mount for tripod
 +
* Great tech support, fast fixes, frequent updates
 +
||
 +
* Not stable FPS
 +
* Quality of depth map depends on lightning conditions
 +
* Foot tracking is not practical with these LiDAR cameras
 +
* Short USB-cables (use active USB 3.0 repeaters to overcome this drawback)
 +
* Pricy
 +
|-
 +
| 4 || Intel RealSense D455 ||
 +
* Up to 90 FPS
 +
* High resolution of depth map
 +
* Good field-of-view (FOV)
 +
* Very compact
 +
* Has mount for tripod
 +
* Great tech support, fast fixes, frequent updates
 +
||
 +
* High noise of depth data, many artifacts and blur (but iPi tracking is powerful enough to provide reasonable results even with such quality of depth data)
 +
* Foot tracking is not practical with these depth cameras
 +
* Board calibration doesn't work with these sensors (only "Calibrate based on light marker" can be applied)
 +
* Short USB-cables (use active USB 3.0 repeaters to overcome this drawback)
 +
|-
 +
| 5 || First-generation Depth Sensors ||  
 
* Ensures tracking quality comparable with that of Kinect 2, but hardware requirements are not so strong
 
* Ensures tracking quality comparable with that of Kinect 2, but hardware requirements are not so strong
 
* Requires USB 2.0 controller
 
* Requires USB 2.0 controller
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* No mount for tripod
 
* No mount for tripod
 
|-
 
|-
| 4 || Orbbec Astra (PRO) ||
+
| 6 || Orbbec Astra (PRO) ||
 
:''See above (as 1st gen. depth sensors)''
 
:''See above (as 1st gen. depth sensors)''
 
:Plus:
 
:Plus:
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* Non-standard tripod mount &mdash; '''M6''' instead of '''1/4″'''
 
* Non-standard tripod mount &mdash; '''M6''' instead of '''1/4″'''
 
|-
 
|-
| 5 || Intel RealSense D435 ||
+
| 7 || Intel RealSense D435 ||
 
* Up to 90 FPS
 
* Up to 90 FPS
 
* High resolution of depth map
 
* High resolution of depth map
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* RGB camera has significantly lower FOV  
 
* RGB camera has significantly lower FOV  
 
|-
 
|-
| 6 || ASUS Xtion 2 ||
+
| 8 || ASUS Xtion 2 ||
 
* Time-of-Flight like Kinect 2
 
* Time-of-Flight like Kinect 2
 
* Good field-of-view (FOV)
 
* Good field-of-view (FOV)
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|}
 
|}
  
The winners are Azure Kinect and Kinect 2 (Kinect for XBOX One).
+
The winners are Azure Kinect and Kinect 2 (Kinect for XBOX One). Intel RealSense L515 and D455 can be also used.
 
+
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 ==
 
== Drivers and Software Libraries ==
Line 169: Line 194:
 
The following sensors don't require special drivers and software to be recognized in [[iPi Recorder]]:
 
The following sensors don't require special drivers and software to be recognized in [[iPi Recorder]]:
 
* Azure Kinect
 
* Azure Kinect
* Intel RealSense D415 and D435
+
* Intel RealSense D400, L500 series
 
* ASUS Xtion 2
 
* ASUS Xtion 2
  

Revision as of 09:10, 20 February 2021

Depth Sensors Support

iPi Recorder supports the following depth sensors:

Azure Kinect (Kinect for Azure)
Kinect 2 (Kinect for XBOX One)
Intel RealSense L515
Intel RealSense D455
Orbbec Astra (PRO)

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.

Microsoft Kinect for Windows
ASUS Xtion Live
ASUS Xtion
PrimeSense Carmine 1.08

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.

Intel RealSense D415 and D435
ASUS Xtion 2


Comparison

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°
WFOV: 120°
NFOV: 640x576 (very good quality!)
WFOV: 512x512
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 PrimeSense L515 $350 Time-of-Flight 55° up to 1024x768 30 USB 3.0 yes not required yes (1/4″)
4 PrimeSense D455 $240 Infrared Coded Structured Light combined with stereo RGB matching 57° up to 1280x720 (but noisy!) up to 90 USB 3.0 yes not required yes (1/4″)
5 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
6 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″)
7 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″)
8 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:

Place Sensor Pros Cons
1 Azure Kinect
  • The highest FOV (especially in WFOV mode)
  • High resolution of depth and RGB video
  • Low noise, the best quality and accuracy of point cloud
  • The highest overall tracking and calibration quality can be expected
  • Good feet tracking
  • Low mutual sensors interference
  • More tolerant to lighting conditions
  • Supports external synchronization (for ideal sync of multiple devices)
  • Has settings for RGB camera (calibration video can be recorded in light room)
  • Multiple sensors can be connected to one and the same computer
  • Has mount for tripod
  • High price
  • Short USB-cables (use active USB 3.0 repeaters to overcome this drawback)
  • Doesn't like certain fabrics (e.g. shiny)
  • Requires USB 3.0 controller
  • Requires Windows 10 64-bit (doesn't work in Windows 7, 8 and 8.1)
2 Kinect 2 (Kinect for XBOX One)
  • Good-enough FOV
  • Relatively high resolution of depth and RGB video
  • Low noise, good-enough quality and accuracy of point cloud
  • High overall tracking quality can be expected
  • Good-enough feet tracking
  • Low mutual sensors interference
  • Rather tolerant to lighting conditions
  • Has mount for tripod
  • Sensor itself is rather bulky
  • There's no settings for RGB camera like Exposition and Gain (thus, for light marker calibration video you have to have rather dark room)
  • Doesn't like certain fabrics (e.g. shiny)
  • Requires USB 3.0 controller and external power supply
  • Does not work on Windows 7 (requires Windows 8 and higher)
3 Intel RealSense L515
  • Good resolution and quality of depth map
  • Very compact
  • Has mount for tripod
  • Great tech support, fast fixes, frequent updates
  • Not stable FPS
  • Quality of depth map depends on lightning conditions
  • Foot tracking is not practical with these LiDAR cameras
  • Short USB-cables (use active USB 3.0 repeaters to overcome this drawback)
  • Pricy
4 Intel RealSense D455
  • Up to 90 FPS
  • High resolution of depth map
  • Good field-of-view (FOV)
  • Very compact
  • Has mount for tripod
  • Great tech support, fast fixes, frequent updates
  • High noise of depth data, many artifacts and blur (but iPi tracking is powerful enough to provide reasonable results even with such quality of depth data)
  • Foot tracking is not practical with these depth cameras
  • Board calibration doesn't work with these sensors (only "Calibrate based on light marker" can be applied)
  • Short USB-cables (use active USB 3.0 repeaters to overcome this drawback)
5 First-generation Depth Sensors
  • Ensures tracking quality comparable with that of Kinect 2, but hardware requirements are not so strong
  • Requires USB 2.0 controller
  • Multiple sensors can be connected to a single computer
  • Works on Windows 7 and higher
  • Lower FOV
  • Lower resolution
  • Lower accuracy
  • Less tolerant to lighting conditions
  • Higher mutual interference of sensors leads to more noise in case of using several sensors
  • No mount for tripod
6 Orbbec Astra (PRO)
See above (as 1st gen. depth sensors)
Plus:
  • On sale
See above (as 1st gen. depth sensors)
Plus:
  • Higher price compared to 1st gen. sensors
  • Non-standard tripod mount — M6 instead of 1/4″
7 Intel RealSense D435
  • Up to 90 FPS
  • High resolution of depth map
  • Good field-of-view (FOV)
  • Very compact
  • Great tech support, fast fixes, frequent updates
  • Very low quality of depth map (high noise, many artifacts)
  • Multiple sensor configuration is not practical with this sensors because of accuracy and quality of depth map (cannot be calibrated)
  • RGB camera has significantly lower FOV
8 ASUS Xtion 2
  • Time-of-Flight like Kinect 2
  • Good field-of-view (FOV)
  • Can be mounted in vertical position
  • Very compact
  • Extremely low effective resolution of depth map (too small amount of 3D dots)
  • No mapping between RGB and depth
  • With multiple sensors, sometimes mutual interference issues arise.
  • High price

The winners are Azure Kinect and Kinect 2 (Kinect for XBOX One). Intel RealSense L515 and D455 can be also used.

Drivers and Software Libraries

The following sensors don't require special drivers and software to be recognized in iPi Recorder:

  • Azure Kinect
  • Intel RealSense D400, L500 series
  • 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: