`
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`Intel® RealSenseTM
`Product Family D400 Series
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`
`Datasheet
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`Intel® RealSense™ Vision Processor D4, Intel® RealSense™
`Vision Processor D4 Board, Intel® RealSense™ Vision
`Processor D4 Board V3, Intel® RealSense™ Depth Module
`D410, Intel® RealSense™ Depth Module D415, Intel®
`RealSense™ Depth Camera D415, Intel® RealSense™ Depth
`Module D430, Intel® RealSense™ Depth Module D450, Intel®
`RealSense™ Depth Module D401, Intel® RealSense™ Depth
`Camera D435, Intel® RealSense™ Depth Camera D435i,
`Intel® RealSense™ Depth Camera D455, Intel® RealSense™
`Depth Camera D405, Intel® RealSense™ Depth Camera D435f,
`Intel® RealSense™ Depth Camera D435if,
`Intel® RealSense™ Depth Camera D455f, Intel® RealSense™
`Depth Camera D456
`
`
`
`Revision 017
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`September 2023
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`Document Number: 337029-017
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`Intel products described herein. You agree to grant Intel a non-exclusive, royalty-free license to any patent claim thereafter drafted which includes subject matter disclosed herein.
`
`No license (express or implied, by estoppel or otherwise) to any intellectual property rights is granted by this document.
`
`Intel technologies’ features and benefits depend on system configuration and may require enabled hardware, software, or service activation. Performance varies depending on
`system configuration. No computer system can be absolutely secure. Check with your system manufacturer or retailer or learn m ore at intel.com.
`
`Intel technologies may require enabled hardware, specific software, or services activation. Check with your system manufacturer or retailer.
`
`The products described may contain design defects or errors known as errata which may cause the product to deviate from publi shed specifications. Current characterized errata are
`available on request.
`
`Intel disclaims all express and implied warranties, including without limitation, the implied warranties of merchantability, fitness for a particular purpose, and non-infringement, as
`well as any warranty arising from course of performance, course of dealing, or usage in trade.
`
`All information provided here is subject to change without notice. Contact your Intel representative to obtain the latest Int el product specifications and roadmaps.
`
`Copies of documents which have an order number and are referenced in this document may be obtained by calling 1-800-548-4725 or visit www.intel.com/design/literature.htm.
`
`Intel and the Intel logo, Intel® Core™, Intel® Atom™, trademarks of Intel Corporation in the U.S. and/or other countries.
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`*Other names and brands may be claimed as the property of others.
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`Copyright © Intel(R) Corporation. All rights reserved. Intel(R) and the Intel(R) logo are trademarks of Intel(R) Corpo ration. Contents
`
`1
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`2
`
`3
`
`Description and Features ............................................................................ 15
`
`Introduction ............................................................................................ 17
`2.1
`Purpose and Scope of this Document................................................... 17
`2.2
`Terminology .................................................................................. 17
`2.3
`Stereo Vision Depth Technology Overview ............................................ 18
`2.4
`Camera System Block Diagram .......................................................... 20
`2.5
`Intel® RealSense™ Depth Module D400 series Product SKUs.................... 21
`2.6
`Intel® RealSense™ Depth Camera D400 series Product SKUs ................... 22
`
`3.4
`3.5
`3.6
`
`Component Specification ............................................................................ 24
`3.1
`Vision Processor D4 Camera System Components .................................. 24
`3.2
`Host Processor ............................................................................... 24
`3.3
`Intel® RealSense™ Vision Processor D4............................................... 24
`3.3.1
`Vision Processor D4 Features ................................................ 25
`3.3.2
`Vision Processor D4 Signal Description .................................... 25
`3.3.3
`Vision Processor D4 Package Mechanical Attributes .................... 31
`3.3.4
`Vision Processor D4 Power Requirements ................................. 36
`3.3.5
`Vision Processor D4 Power Sequencing .................................... 37
`3.3.6
`Vision Processor D4 Spec Code .............................................. 38
`3.3.7
`Vision Processor D4 Storage and Operating Conditions ................ 39
`3.3.8
`Vision Processor D4 Thermals................................................ 39
`Clock ........................................................................................... 39
`Serial (SPI) Flash Memory ................................................................ 39
`Stereo Depth Module ....................................................................... 40
`3.6.1
`Left and Right Imagers ........................................................ 42
`3.6.2
`Infrared Projector ............................................................... 45
`3.6.3
`Color Sensor ..................................................................... 46
`3.6.4
`Depth Module Connector ...................................................... 47
`3.6.5
`Stereo Depth Module Label ................................................... 48
`3.6.6
`Stiffener ........................................................................... 49
`3.6.7
`Temperature Sensor............................................................ 49
`3.6.8
`Other Stereo Depth Module Components ................................. 50
`3.6.9
`Mechanical Dimensions ........................................................ 50
`3.6.10 Stereo Depth Module Power Sequence ..................................... 52
`3.6.11 Stereo Depth Module Storage and Powered Conditions ................ 52
`Intel® RealSense™ Vision Processor D4 Board ...................................... 53
`3.7.1
`Mechanical Dimensions ........................................................ 54
`3.7.2
`Depth Module Receptacle ..................................................... 54
`3.7.3
`Flex and Rigid Interposer Interconnect .................................... 55
`3.7.4
`External Sensor Sync Connector ............................................ 64
`3.7.5
`USB Peripheral Connector – Type-C – D415, D435, D435i, D435f,
`D435if, D455, D455f, D456 .................................................. 64
`USB Peripheral Connector – Micro-B (D405) ............................. 66
`3.7.6
`Color Image Signal Processor (ISP) ........................................ 67
`3.7.7
`Vision Processor D4 Board Power Requirements ........................ 67
`3.7.8
`Vision Processor D4 Board Thermals ....................................... 67
`3.7.9
`3.7.10 Vision Processor D4 Board Storage and Powered Conditions ......... 68
`3.7.11
`Intel® RealSense™ Vision Processor D4 Board Product Identifier and
`Material Code .................................................................... 68
`
`3.7
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`5
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`6
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`7
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`3.8
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`Intel® RealSense™ Depth Camera D400 Series ..................................... 69
`3.8.1
`Depth Camera D400 Series Mechanical Dimensions .................... 73
`3.8.2
`Depth Camera D400 Series Thermals ...................................... 74
`3.8.3
`Depth Camera D400 Series Product Identifier and Material Code ... 76
`3.8.4
`Camera Lens Cleaning Procedure ........................................... 76
`3.8.5
`Stereo Depth Camera Label .................................................. 77
`
`Functional Specification .............................................................................. 80
`4.1
`Vendor Identification (VID) and Device Identification (DID) ...................... 80
`4.2
`Vision Processor D4 Data Streams ...................................................... 80
`4.3
`Depth Field of View (FOV) ................................................................. 88
`4.4
`Depth Field of View at Distance (Z) ..................................................... 88
`4.5
`Invalid Depth Band ......................................................................... 89
`4.6
`Minimum-Z Depth ........................................................................... 91
`4.7
`Depth Quality Specification ............................................................... 91
`4.8
`Depth Start Point (Ground Zero Reference) .......................................... 93
`4.8.1
`Depth Origin X-Y Coordinates ................................................ 97
`Depth Camera Functions ................................................................. 100
`4.9
`4.10 Color Camera Functions .................................................................. 101
`4.11
`IMU Specifications.......................................................................... 102
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`Firmware ............................................................................................... 104
`5.1
`Update ........................................................................................ 104
`5.1.1
`Update Limits ................................................................... 104
`Recovery ..................................................................................... 104
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`5.2
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`Software ................................................................................................ 105
`6.1
`Intel® RealSense™ Software Development Kit 2.0 ................................ 105
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`7.3
`7.4
`7.5
`7.6
`
`System Integration .................................................................................. 106
`7.1
`System Level Block Diagram ............................................................ 106
`7.2
`System Level Block Diagram ............................................................ 107
`7.2.1
`Vision Processor D4 Board ................................................... 107
`7.2.2
`Vision Processor D4 on Motherboard ...................................... 108
`D4 Camera System Power Delivery .................................................... 109
`Thermals ..................................................................................... 110
`Stereo Depth Module Flex ................................................................ 115
`Stereo Depth Module Mounting Guidance ............................................ 115
`7.6.1
`Screw Mounting/End Mounting ............................................. 116
`7.6.2
`Bracket Mounting/Mid-Module Mounting.................................. 116
`7.6.3
`Stereo Depth Module Air gap................................................ 118
`Thermal Interface Material ............................................................... 119
`7.7
`Heat Sink ..................................................................................... 119
`7.8
`Cover Design and Material Guidance .................................................. 119
`7.9
`7.10 Gaskets ....................................................................................... 120
`7.10.1 Optical Isolation ................................................................ 122
`7.10.2 Dust Protection ................................................................. 122
`Firmware Recovery ........................................................................ 122
`7.11
`7.12 Calibration Support ........................................................................ 123
`7.13 Multi-Camera Hardware Sync ........................................................... 123
`7.14 Handling Conditions ....................................................................... 124
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`8
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`Platform Design Guidelines ........................................................................ 125
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`8.1
`8.2
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`8.3
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`Vision Processor D4 on Motherboard .................................................. 125
`Kaby Lake U and Kaby Lake Y platforms ............................................. 126
`8.2.1
`Kaby Lake Platform Introduction ........................................... 126
`8.2.2
`Supported PCB Stack-Up and Routing Geometries..................... 126
`8.2.3
`Vision Processor D4 on Motherboard with USB Host Interface ...... 127
`8.2.4
`Vision Processor D4 on Motherboard with MIPI Host Interface...... 128
`8.2.5
`Vision Processor D4 Board for Integrated Peripheral (USB 3.1 Gen 1
`Host to Vision Processor D4 Routing) ..................................... 130
`USB2.0 Design Guidelines (USB2 Host to Vision Processor D4
`Routing) .......................................................................... 131
`Ingress Protection Rating: IP65 ............................................ 132
`8.2.7
`Cherry Trail T4 Platform .................................................................. 132
`8.3.1
`Cherry Trail T4 Platform Introduction ..................................... 132
`8.3.2
`Vision Processor D4 Platform Design Guidelines ........................ 133
`
`8.2.6
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`9.2
`
`Regulatory Compliance ............................................................................. 134
`9.1
`System Laser Compliance ................................................................ 134
`9.1.1
`Certification Statement ....................................................... 134
`9.1.2
`Explanatory Label .............................................................. 134
`9.1.3
`Cautionary Statements ....................................................... 134
`9.1.4
`US FDA Accession Number................................................... 135
`Regulatory Compliance ................................................................... 135
`9.2.1
`Manufacturer’s Information .................................................. 135
`9.2.2
`EU Single Place of Contact ................................................... 135
`9.2.3
`UK Single Place of Contact ................................................... 136
`9.2.4
`NRTL Statement ................................................................ 136
`9.2.5
`FCC Part 15 Declaration of Conformity.................................... 136
`9.2.6
`Canada ........................................................................... 137
`9.2.7
`European Directives ........................................................... 137
`9.2.8
`UK ................................................................................. 138
`9.2.9
`Australia .......................................................................... 138
`9.2.10
`Japan.............................................................................. 138
`9.2.11 South Korea ..................................................................... 138
`Ecology Compliance........................................................................ 139
`9.3.1
`China RoHS Declaration ...................................................... 139
`9.3.2 Waste Electrical and Electronic Equipment (WEEE) .................... 140
`9.3.3
`Turkey ............................................................................ 140
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`9.3
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`10
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`11
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`12
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`13
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`Mechanical Drawings ................................................................................ 141
`
`Connector Drawings ................................................................................. 157
`
`Appendix A – Vision Processor D4 on Motherboard Schematic Checklist................ 159
`12.1
`Power Delivery .............................................................................. 166
`
`Appendix B – Cover Material....................................................................... 169
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`
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`Figures
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`Figure 2-1. Active Infrared (IR) Stereo Vision Technology ..................................................... 19
`Figure 2-2. Depth Measurement (Z) versus Range (R) ......................................................... 19
`Figure 2-3. Vision Processor D4 Camera System Block Diagram ............................................. 20
`Figure 3-1. Vision Processor D4 Package Drawing ............................................................... 32
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`Figure 3-2. Vision Processor D4 Ball-out ........................................................................... 34
`Figure 3-3. Vision Processor D4 Power Sequencing ............................................................. 38
`Figure 3-4. Stereo Depth Module (Intel® RealSense™ Depth Module D410) .............................. 40
`Figure 3-5. Stereo Depth Module (Intel® RealSense™ Depth Module D430) .............................. 40
`Figure 3-6. Stereo Depth Module (Intel® RealSense™ Depth Module D450) .............................. 41
`Figure 3-7. Stereo Depth Module (Intel® RealSense™ Depth Module D401) ............................. 41
`Figure 3-8. Stereo Depth Module Power Sequence .............................................................. 52
`Figure 3-9. Vision Processor D4 Board (V1 and V3) (USB Peripheral Type-C) ............................ 53
`Figure 3-10. Vision Processor D4 Board (V4) (USB3 Peripheral Micro-B) .................................. 54
`Figure 3-11. Flex Interposer – D415, D435, D435i, D435f, D435if, D455, D455f, D456 (Illustration)
` ............................................................................................................ 55
`Figure 3-12. Rigid Interposer – D415, D435, D435i, D435f, D435if, D455, D455f, D456 (Illustration)
` ............................................................................................................ 56
`Figure 3-13. Depth Module Receptacle and Plug Connector Pin Position – D415, D435, D435i, D435f,
`D435if, D455, D455f, D456 ......................................................................... 57
`Figure 3-14. Depth Module Connector Orientation and Pin Position – D415, D435, D435i, D435f,
`D435if, D455, D455f, D456 ......................................................................... 59
`Figure 3-15. Flex Interposer – D401 (Illustration) ............................................................... 60
`Figure 3-16. Depth Module Receptacle and Plug Connector Pin Position – D401 ......................... 60
`Figure 3-17. Depth Module Connector Orientation and Pin Position – D401 ............................... 62
`Figure 3-18. USB Type-C Receptacle Pin Map ..................................................................... 65
`Figure 3-19. USB3 Micro-B Receptacle Pin Map .................................................................. 66
`Figure 3-20. Intel® RealSense™ Depth Camera D415 .......................................................... 69
`Figure 3-21. Intel® RealSense™ Depth Camera D435/D435i ................................................. 69
`Figure 3-22. Intel® RealSense™ Depth Camera D435f ......................................................... 69
`Figure 3-23. Intel® RealSense™ Depth Camera D455 .......................................................... 69
`Figure 3-24. Intel® RealSense™ Depth Camera D405 .......................................................... 70
`Figure 3-25. Intel® RealSense™ Depth Camera D435if......................................................... 70
`Figure 3-26. Intel® RealSense™ Depth Camera D455f ......................................................... 70
`Figure 3-27. Intel® RealSense™ Depth Camera D456 ......................................................... 70
`Figure 3-28. Intel® RealSense™ Depth Cameras D435f, D435if and D455f NIR Filter Optical
`Properties ............................................................................................... 72
`Figure 4-1. Depth Field of View to Depth Map illustration ...................................................... 89
`Figure 4-2. Left Invalid Depth Band ................................................................................. 90
`Figure 4-3. Depth Module Depth Start Point Reference ......................................................... 94
`Figure 4-4. Depth Camera Depth Start Point Reference ........................................................ 96
`Figure 4-5. Depth Module X-Y Depth Origin Reference – D410, D415, D430, D450 ..................... 97
`Figure 4-6. Depth Module X-Y Depth Origin Reference – D401 ............................................... 98
`Figure 4-7. Depth Camera X-Y Depth Origin Reference – D415, D435/D435i/D435f/D435if,
`D455/D455f/D456 .................................................................................... 99
`Figure 4-8. Depth Camera X-Y Depth Origin Reference – D405 ............................................. 100
`Figure 7-1. System Block Diagram – D415, D435, D435i, D455 ............................................ 106
`Figure 7-2. System Block Diagram – D405 ....................................................................... 107
`Figure 7-3. Intel® RealSense™ Vision Processor D4 Board – V1, V3 ....................................... 108
`Figure 7-4. Intel® RealSense™ Vision Processor D4 Board – V4 ............................................ 108
`Figure 7-5. Vision Processor D4 on Motherboard (Illustration) .............................................. 109
`Figure 7-6. D4 Camera System Power Scheme.................................................................. 110
`Figure 7-7. Bottom Stiffener Depth Module D410/D415 ....................................................... 114
`Figure 7-8. Bottom Stiffener Depth Module D430 ............................................................... 114
`Figure 7-9. Bottom Stiffener Depth Module D450 ............................................................... 115
`Figure 7-10. Bottom Stiffener Depth Module D401 ............................................................. 115
`Figure 7-11. Stereo Depth Module Screw Mounting/End Mounting – D410 ............................... 116
`Figure 7-12. Stereo Depth Module Screw Mounting/End Mounting – D430 ............................... 116
`Figure 7-13. Stereo Depth Module Bracket example for D415 ............................................... 117
`Figure 7-14. Stereo Depth Module Bracket Mount – D415 .................................................... 117
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`Figure 7-15. Stereo Depth Module Mid-Mounting – D401 ..................................................... 118
`Figure 7-16. Stereo Depth Module Air Gap ....................................................................... 119
`Figure 7-17. Illustration of Gasket Placement and Cover Material .......................................... 121
`Figure 7-18. Example of Light Leakage Effects .................................................................. 122
`Figure 7-19. Firmware Recovery Sequence ....................................................................... 123
`Figure 7-20. External Sensor Sync Connector Location on D4 Vision Processor V1 and V3 Board .. 123
`Figure 7-21. External Sensor Sync Connector Location on Depth Camera D435/D435i/D455 ....... 124
`Figure 8-1. Vision Processor D4 with USB Host Interface ..................................................... 125
`Figure 8-2. Vision Processor D4 with MIPI Host Interface ..................................................... 125
`Figure 8-3. Vision Processor D4 on Board for USB Integrated Peripheral ................................. 126
`Figure 8-4. Host Processor - Vision Processor D4 ............................................................... 127
`Figure 8-5. Vision Processor D4 Transmit - Host Receive ..................................................... 128
`Figure 8-6. Stereo Depth Transmit - Vision Processor D4 Receive .......................................... 129
`Figure 8-7. Flex Interposer PCB Stack-Up ........................................................................ 130
`Figure 8-8. USB 3.1 Gen 1 Host to Vision Processor D4 Topology .......................................... 130
`Figure 8-9. USB2.0 Host to Vision Processor D4 ................................................................ 131
`Figure 9-1. NRTL Certifications ...................................................................................... 136
`Figure 10-1. Intel® RealSense™ Depth Module D410 ......................................................... 141
`Figure 10-2. Intel® RealSense™ Depth Module D415 .......................................................... 142
`Figure 10-3. Intel® RealSense™ Depth Module D430 .......................................................... 143
`Figure 10-4. Intel® RealSense™ Depth Module D450 .......................................................... 144
`Figure 10-5. Intel® RealSense™ Depth Module D401 .......................................................... 145
`Figure 10-6. Vision Processor D4 Board USB Type-C (Intel® RealSense™ Vision Processor D4 Board –
`V1 and V3) ............................................................................................. 146
`Figure 10-7. Vision Processor D4 Board USB Micro-B (Intel® RealSense™ Vision Processor D4 Board
`– V4) .................................................................................................... 147
`Figure 10-8. Intel® RealSense™ Depth Camera D415 ......................................................... 148
`Figure 10-9. Intel® RealSense™ Depth Camera D435/D435i ................................................ 149
`Figure 10-10. Intel® RealSense™ Depth Camera D435f/D435if NIR Filter ................................ 150
`Figure 10-11. Intel® RealSense™ Depth Camera D455........................................................ 151
`Figure 10-12. Intel® RealSense™ Depth Camera D455f/ NIR Filter ....................................... 154
`Figure 10-13. Intel® RealSense™ Depth Camera D405........................................................ 155
`Figure 10-14. Intel® RealSense™ Depth Camera D456 ....................................................... 156
`Figure 11-1. Receptacle Mechanical Drawing (50-Pin Depth Module Receptacle) ....................... 157
`Figure 11-2. Plug Mechanical Drawing (50-Pin Depth Module Plug) ........................................ 158
`Figure 12-1. Vision Processor D4 Laser PWM Reference Platform Schematic............................. 166
`Figure 12-2. Vision Processor D4 24 MHz Crystal Clock Reference Platform Schematic ............... 166
`Figure 12-3. DC-DC Reference Platform Schematic (3.3 V, 1.8 V, 0.9 V) ................................. 167
`Figure 12-4. Vision Processor D4 VDD_PG and AVDD Reference Platform Schematic .................. 168
`
`
`
`Tables
`
`Table 2-1. Depth Module Product SKU Descriptions ............................................................. 21
`Table 2-2. Depth Camera Product SKU Descriptions ............................................................ 22
`Table 3-1. Component Descriptions ................................................................................. 24
`Table 3-2. Vision Processor D4 Signal Descriptions.............................................................. 25
`Table 3-3. Hardware Straps ........................................................................................... 30
`Table 3-4. Vision Processor D4 Package Mechanical Attributes ............................................... 32
`Table 3-5. Vision Processor D4 Ball-out by Signal Name ....................................................... 34
`Table 3-6. Vision Processor D4 Power Requirements............................................................ 37
`Table 3-7. Vision Processor D4 Power Sequencing Timing Parameters ..................................... 38
`Table 3-8. Vision Processor D4 SPEC Code ........................................................................ 39
`Table 3-9. Vision Processor D4 Storage and Operating Conditions .......................................... 39
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`Table 3-10. Stereo Depth Module .................................................................................... 40
`Table 3-11. Stereo Depth Module SKU Properties................................................................ 41
`Table 3-12. Standard Left and Right Imager Properties – D410/D415...................................... 43
`Table 3-13. Wide Left and Right Imager Properties – D430 ................................................... 43
`Table 3-14. Wide Left and Right Imager Properties – D450 ................................................... 43
`Table 3-15. Wide Left and Right Imager Properties – D401 ................................................... 44
`Table 3-16. Standard (D41x) Infrared Projector Parameters .................................................. 45
`Table 3-17. Wide (D43x, D45x) Infrared Projector Parameters .............................................. 45
`Table 3-18. Color Sensor Properties – D415 ...................................................................... 46
`Table 3-19. Color Sensor Properties – D450 ...................................................................... 46
`Table 3-20. Color Sensor Properties – D401*..................................................................... 47
`Table 3-21. Depth Module 50-pin Connector Plug Details ...................................................... 48
`Table 3-22. Stereo Depth Module Product Labeling – D410, D415, D430 .................................. 48
`Table 3-23. Stereo Depth Module Product Labeling – D401, D450 .......................................... 48
`Table 3-24. Stereo Depth Module Label Fields .................................................................... 48
`Table 3-25. Intel® RealSense™ Depth Module D400 Series Product Identifier Code and Product
`Material Code........................................................................................... 49
`Table 3-26. Other Stereo Depth Module Components........................................................... 50
`Table 3-27. Intel® RealSense™ Depth Module D410 Mechanical Dimensions ............................. 50
`Table 3-28. Intel® RealSense™ Depth Module D415 Mechanical Dimensions ............................. 50
`Table 3-29. Intel® RealSense™ Depth Module D430 Mechanical Dimensions ............................. 50
`Table 3-30. Intel® RealSense™ Depth Module D450 Mechanical Dimensions ............................. 51
`Table 3-31. Intel® RealSense™ Depth Module D401 Mechanical Dimensions ............................. 51
`Table 3-32. Stereo Depth Module Storage and Powered Conditions ......................................... 52
`Table 3-33. Vision Processor D4 Board ............................................................................. 53
`Table 3-34. Vision Processor D4 Board Components ............................................................ 53
`Table 3-35. Vision Processor D4 USB Type-C V1/V3 Board Mechanical Dimensions ..................... 54
`Table 3-36. Vision Processor D4 USB3 Micro-B V4 Board Mechanical Dimensions ....................... 54
`Table 3-37. Depth Module Receptacle Details ..................................................................... 55
`Table 3-38. Interposer Interconnect Signal Description – D415, D435, D435i, D435f, D435if, D455,
`D455f, D456 ............................................................................................ 57
`Table 3-39. Interposer Interconnect Signal Description - D401 .............................................. 61
`Table 3-40. Custom Flex Interposer Ordering Logistics......................................................... 63
`Table 3-41. External Sensor Connector Details ................................................................... 64
`Table 3-42. External Sensor Sync Connector Pin List ........................................................... 64
`Table 3-43. USB Peripheral Connector Pin List.................................................................... 65
`Table 3-44. USB Peripheral Connector Pin List – D405 ......................................................... 66
`Table 3-45. ISP Properties ............................................................................................. 67
`Table 3-46. Vision Processor D4 Board Power Requirements.................................................