Intel RealSense D435i Depth Camera

The standard third-person scene camera for tabletop manipulation. Global-shutter depth with an integrated IMU, and an ideal range that matches the working distance of a bench cell.

• Stereoscopic depth; global shutter on depth, rolling shutter on RGB
• Ideal range 0.3–3 m; minimum depth distance approximately 28 cm
• Depth field of view 87° × 58°
• Depth output up to 1280 × 720 at 90 fps
• RGB 1920 × 1080 at 30 fps
• Integrated inertial measurement unit
• USB-C 3.1 Gen 1
• 90 × 25 × 25 mm
• First-party ROS 2 wrapper

Scene capture on manipulation rigs, and the model most RealSense ROS 2 examples are written against.