I have both an Intel RealSense D435 and a Structore Core sensor. Here a little review.
Advantages of the Structure Core:
- SDK installation is easy. I develop on Linux and after running a script, the SDK is built and you can launch the CorePlayground app.
- depth accuracy / quality compared to the RealSense D435, see the following images.
This is the pointcloud acquired by the D435:
The same scene acquired with the Structure Core:
Much less “waves effect” for flat surfaces with the Structure Core and depth transition is cleaner.
Two another screenshots with the D435 first:
While the depth quality of the D435 is inferior of the Core sensor, the RealSense has better depth fill rate in my experiments. Also, it looks like the Structure core thresholds the max depth distance and it is possible to see farther with the D435.
Disadvantages of the Structure Core:
- I am disappointed about the build quality
First, you have to screw the tripod mount at the back of the sensor with this system:
I am not able to totally screw and I don’t want to force and damage it. Thus, there is a little play and the tripod mount is not rigidly attached to the sensor.
- second, the case is completely close. There is no vent and the sensor heats a lot. The plastic seems a little cheap also in my opinion:
Compared to the D435:
- third, I choose the Structure Core with the color camera. The quality of the color camera is really really bad, the Core then the D435:
Not sure but it looks like there is no auto-exposure for the Core color camera.
Some thoughts about the Structure Core SDK:
- I would have appreciated to have the possibility to do CMake
findStructure for my C++ test program.
- for now, it seems that the way to acquire the data is to use a “delegate” function. I would like to do “polling” or “wait for frames” instead of using callback to grab the images.
- retrieving the IR frames is done via one buffer with the left and right IR images embedded. It would be great if there is a way to “deinterlace” on the device or in the API.
- better depth quality vs the D435
- easy installation, API ok
- cheap build quality, awful color camera quality
- choose the D435 if you don’t need good depth accuracy
- for now, the librealsense SDK is more mature since the Structure Core has just been released. But it means also that the RealSense community is way bigger and it will be more easy to find code for the RealSense.