Table 3.

Parameters used to model the behavior of the D415 camera in the study.

Parameter	Value
Minimum acquisition distance *	160 mm
Maximum acquisition distance *	350 mm
Resolution	1280 × 720
FOV	69.4° × 42.5° + (−3°) (conservatively set at 66.4° × 39.5°)
Maximum inclination of the triangles *	70° (0° being with the normal directed towards the optical center of the sensor and 90° being a triangle with normal orthogonal to the local optical ray)

* values that are valid for the specific application, they were estimated during experimental tests.