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Depth sensor comparison

How to read this

  • Resolutions are what the driver reports, not a measured optical resolution. That is true of every sensor here, mine included, and no manufacturer publishes the second figure.
  • Read the technology column together with the resolution column. Structured light and stereo work depth out by correlating a pattern or matching a window across several pixels, so neighbouring depth pixels are not independent. Time of flight measures phase per pixel, which is the one class where output resolution and measurement resolution coincide. That is a difference in lateral detail, not in depth precision. The worked example, from Intel's own engineers, is in how depth sensing works.
  • Range figures are the manufacturer's unless the cell says otherwise, and they are usually the most favourable mode. Where sources disagree the cell shows the spread rather than picking a winner.
  • Support levels: tested means I have run it on my own hardware. expected means the SDK supports it and the app has a code path, but nobody has plugged one in. unknown means my code names the model and nothing more. Anything not listed has not been checked.

not published the manufacturer does not publish it – does not apply ? not checked yet

The sensors people actually use

The 17 sensors worth comparing side by side. Everything else is in the full list below.

SensorTechnologyDepthField of viewRangeConnectionMulti-sensorAvailabilityBrekel apps
Microsoft
Azure Kinect DK time of flight 1024x1024 at 15 fps640x576 at 30 fps 5 modes in total 75 x 65°120 x 120° varies by mode 0.25 to 5.46 m no single mode covers both ends USB 3.0 Type-C external PSU or USB-C, 5.9 W 3.5 mm sync in and out offset captures 160 us; per-machine maximum unsettled, Microsoft publishes 8, 9 and 10 second-hand only 2019 to 2023 Body v3 * PointCloud v3 tested
Kinect v2 Kinect for Xbox One and Kinect for Windows v2 time of flight 512x424 at 30 fps 70 x 60° 0.5 to 4.5 m USB 3.0, own controller Kinect Adapter, mains powered no sync, one per machine units interfere, no mitigation second-hand only 2013 to 2017 Body v2 Body v3 * Face v2 PointCloud v2 PointCloud v3 one sensor per machine in every app, a Microsoft driver restriction tested
Kinect v1 Kinect for Xbox 360 and Kinect for Windows v1 structured light 640x480 at 30 fps 6 modes in total 57 x 43° 0.4 to 4 m no single mode covers both ends USB 2.0, own bus mains adapter, supplied no sync, up to 4 per machine IR patterns interfere second-hand only 2012 to 2015 Body v1 Body v3 * Face v1 * PointCloud v1 * PointCloud v3 near mode, which tracks from 40 cm instead of 80, needs a Kinect for Windows unit. The Xbox 360 sensor, which is what most people own, does not have it tested
Orbbec
Femto Bolt time of flight 1024x1024640x576 at 30 fps 5 modes in total 75 x 65°120 x 120° varies by mode 0.25 to 5.46 m no single mode covers both ends USB 3.2 Type-C bus powered, published wattages disagree 8-pin sync connector interference mitigated by sync sold new since 2023 Body v3 * PointCloud v3 * tested
Femto Mega time of flight 1024x1024640x576 at 30 fps 5 modes in total 75 x 65°120 x 120° varies by mode 0.25 to 5.46 m no single mode covers both ends USB 3.2 Type-C or Ethernet 12 V, PoE+ or USB-C 8-pin sync connector interference mitigated by sync sold new since 2023 Body v3 * PointCloud v3 * USB only, the Ethernet path is not supported tested
Astra structured light 1280x1024 at 5 fps640x480 at 30 fps 4 modes in total 60 x 49.5 deg (73 deg diagonal) others report H58.4 x V45.5 deg 0.4 to 8 m no single mode covers both ends USB 2.0 Type-A bus powered, under 2.4 W no sync connector second-hand only until 2025 Body v3 * PointCloud v2 * PointCloud v3 * tested
RealSense
D455 D456 is the same camera with an IP65 bit set active stereo 1280x720 at 30 fps848x480 at 90 fps 6 modes in total 87 x 58°75 x 62° varies by mode 0.4 m to over 6 m others report ideal range 0.6 m to 6 m, 0.33 to 4.2 m USB-C 3.1 bus powered, 3.5 W 9-pin sync header depth and colour, no interference sold new since 2020 Body v3 * PointCloud v2 * PointCloud v3 * tested
D435 D435i adds an IMU the apps do not read active stereo 1280x720 at 30 fps848x480 at 90 fps 8 modes in total 87 x 58°75 x 62° varies by mode 0.2 m to over 3 m others report ideal range 0.3 m to 3 m USB-C 3.1 bus powered, 3.4 W 9-pin sync header depth only, no interference sold new since 2018 Body v3 * PointCloud v2 * PointCloud v3 * tested
D415 active stereo 1280x720 at 30 fps848x480 at 90 fps 6 modes in total 65 x 40°50 x 40° varies by mode 0.3 m to over 4 m others report ideal range 0.5 m to 3 m USB-C 3.1 bus powered, 3.0 W 9-pin sync header depth and colour, no interference sold new since 2018 Body v3 * PointCloud v2 * PointCloud v3 * tested
L515 scanning time of flight 1024x768 at 30 fps 3 modes in total 70 x 55° 0.25 to 9 m varies by mode USB 3.0 Type-C bus powered, up to 3.3 W 3-pin sync, up to 16 units overlapping units interfere second-hand only 2019 to 2021 not in current versions Intel dropped the L515 from librealsense at 2.55, and the apps link 2.58
StereoLabs
ZED X passive stereo 1920x1200 at 60 fps960x600 at 120 fps 6 modes in total 110 x 80° 0.3 to 35 m no single mode covers both ends GMSL2 only needs a ZED Link card or ZED Box, power over coax frame sync, up to 8 cameras no interference, projects nothing sold new since 2022 Body v3 PointCloud v3 the apps name the model, but it connects over GMSL2 rather than USB and nobody has run one here unknown
ZED 2 passive stereo 2208x1242 at 15 fps672x376 at 100 fps 4 modes in total 110 x 70° 0.3 to 20 m USB 3.0, fixed cable bus powered, 1.9 W no hardware sync timestamps or PTP, no interference second-hand only 2019 to 2024 Body v3 * PointCloud v3 * tested
ZED 2i passive stereo 2208x1242 at 15 fps672x376 at 100 fps 8 modes in total 110 x 70°72 x 44° varies by mode 0.3 to 35 m no single mode covers both ends USB 3.0 Type-C bus powered, 1.9 W no hardware sync timestamps or PTP, no interference sold new since 2021 Body v3 * PointCloud v3 * expected
Ultraleap
Leap Motion Controller 2 active stereo – hands are solved on the device, no depth image 160 x 160 degrees maximum 0.1 to 1.1 m others give 0.75 m USB 3.0 Type-C bus powered not published sold new since 2023 Hands * tested
Stereo IR 170 active stereo – hands are solved on the device, no depth image 170 x 170 degrees typical, 160 x 160 degrees minimum 0.1 to 1 m micro USB 2.0 bus powered not published sold new Hands * tested
Leap Motion Controller active stereo – hands are solved on the device, no depth image 120 x 150 degrees up to 0.8 m no near limit published USB 2.0 bus powered not published second-hand only since 2013 Hands * tested
Apple
iPhone / iPad LiDAR other 256x192 at 60 fps community measured, not a vendor figure ? up to 5 m no minimum published built in no PC connection not applicable sold new since 2020 not supported platform wall

Scroll the table sideways. The sensor column stays put.

What I would use for what

There is no single best sensor here, and a ranked column would be wrong for most readers: the winner changes with the distance you work at and with the job. So this is what I would pick, per job. It is one person's opinion, which is the point.

Body motion capture

An Azure Kinect DK or a Femto Bolt. Time of flight measures per pixel, the depth stays clean at the distance a person stands, and the body tracker was built against this hardware. The Bolt is the one you can still buy new, and it carries the same Microsoft depth module. Body v3 configures wired sync between several of them automatically, though I have not run every Orbbec combination myself.

Volumetric video

The same two. Colour and depth come off one unit and PointCloud records them together, which is the whole job.

Scanning small objects

A D415, close in. Under half a metre its narrower field puts more pixels on the subject than anything else here. Worth saying plainly: none of my apps is an object scanner. PointCloud captures and exports point clouds, it does not turn them into a finished model.

Rooms and large volumes

A ZED 2 or ZED 2i past three metres, where passive stereo stops caring about the infrared budget that limits everything else. Same caveat as above: capture and export, not a scanning pipeline.

On a budget

A second-hand Kinect v2 still works, and still gives depth that nothing in its price class beats. Buy the USB 3.0 adapter with it, and count on one sensor per machine.

What I would avoid

The L515, which is discontinued and has been dropped from the RealSense SDK, so current versions of my apps cannot use it.

And for body work, the older structured light cameras: the Astra family, and the Kinect v1 if you are buying one today rather than using one you already own. Both are supported and both work, but at the distance a person stands the time of flight cameras above give cleaner depth and steadier tracking. Between those two the Kinect v1 tracks bodies better than the Astra does, and if you are shopping second-hand anyway, the Kinect v2 is the one to get. If you already own either, there is no reason to replace it: Body v3 supports both.

What each technology is good and bad at

No class wins outright, which is why the table has three of them in it. The short version is below, because it decides which row you should be reading. How depth sensing works is the long one: how each mechanism works, drawn, with what goes wrong in each and why.

Time of flight

Good at: measuring per pixel, so the output resolution really is the measurement resolution. Untextured walls, which defeat stereo entirely. Wide fields of view.

Bad at: multipath in corners and off shiny surfaces, which come out further away than they are. Flying pixels along depth edges. Sunlight, and dark surfaces. Interference between units pointed at the same volume, which hardware sync fixes.

Structured light

Good at: dense, stable depth close in, including on surfaces with no texture at all. Cheap, and light on the host, because the depth is computed on the device.

Bad at: sunlight, which washes the pattern out. A shadow beside every object, because the projector sits a few centimetres from the camera. Overlapping units, which spoil each other's pattern. And detail that falls away with distance.

Stereo, passive and active

Good at: daylight and outdoors, where every emitter-based sensor struggles. Long range. Any number of units in one room, because a passive camera projects nothing to interfere with. High resolution, since it is two ordinary image sensors.

Bad at: untextured surfaces, which give the matcher nothing to match, and which is exactly what the projector in an active stereo camera is for. Occlusion, since a point has to be visible to both lenses. Error that grows with the square of distance, so a figure quoted at one metre says little about six.

The balance is deliberate. Each class gets its real strengths and its real failures, and none of it is an argument for the technology my own apps happen to lean on.

Full list

Every sensor in the research, specs only. No support columns: this half of the page is a reference, and support claims for hardware I do not own would only go stale. 91 sensors.

SensorMakerTechnologyDepthField of viewRangeConnectionAvailability
Analog Devices ADTF3175 (EVAL-ADTF3175D-NXZ kit) ADTF3175, EVAL-ADTF3175D-NXZ Analog Devices time of flight 1024x1024 at 40 fps640x480 at 90 fps 75 x 75° 0.4 to 4 m ? sold new
Apple LiDAR Scanner (iPhone Pro / iPad Pro) LiDAR Scanner, ARKit sceneDepth Apple other 256x192 at 60 fps community measured, not a vendor figure ? up to 5 m no minimum published – sold new since 2020
Apple TrueDepth camera TrueDepth, Face ID sensor array Apple ? 640x480 community measured, not a vendor figure ? ? – sold new
Asus Xtion 2 Xtion2, N50 ASUS ? 640x480 at 30 fps 74 x 52° 0.8 to 3.5 m USB 3.0 second-hand only since 2017
Asus Xtion PRO Xtion PRO, N50 ASUS structured light 640x480 at 30 fps320x240 at 60 fps 58 x 45° 0.8 to 3.5 m USB 2.0 second-hand only
Asus Xtion PRO LIVE Xtion PRO LIVE, N50 ASUS structured light 640x480 at 30 fps320x240 at 60 fps 58 x 45° 0.8 to 3.5 m USB 2.0 / 3.0 second-hand only
Basler blaze-101 blaze-101 Video Module Basler AG time of flight 640x480 at 30 fps 67 x 51° 0.3 to 10 m GigE. Not USB sold new
Creative Senz3D Interactive Gesture Camera Senz3D, VF0780 Creative time of flight 320x240 ? ? single USB cable, no separate power cable second-hand only since 2013
FRAMOS Industrial Depth Camera D415e D415e, D400e series FRAMOS active stereo 1280x720 at 30 fps 65 x 40° optimal operating range 0.5 to 3 m Gigabit Ethernet, GigE Vision, M12 X-coded connector with PoE sold new
FRAMOS Industrial Depth Camera D435e D435e, D400e series FRAMOS active stereo 1280x720 at 30 fps 87 x 58° optimal operating range 0.3 to 3 m Gigabit Ethernet, GigE Vision, M12 X-coded connector with PoE sold new since 2019
FRAMOS Industrial Depth Camera D455e D455e, D400e series FRAMOS active stereo 1280x720 at 30 fps 87 x 58° optimal operating range 0.6 to 6 m Gigabit Ethernet, GigE Vision, M12 X-coded connector with PoE sold new
Google Tango depth phones Project Tango, Lenovo Phab 2 Pro Google (platform) ? ? ? ? – second-hand only 2016 to 2018
Intel RealSense Camera F200 F200, front-facing camera Intel coded light 640x480 at 60 fps 2 modes in total 68 x 54° 0.2 - 1.2 meter range others report indoors; 20 - 120cm, indoor range 0.2 m - 1.0 m USB 3.0 second-hand only
Intel RealSense Camera R200 R200, products formerly Double Springs Intel active stereo 628x468 at 60 fps 3 modes in total 59 x 46° VGA resolution depth capture from 0.4 to 2.8 m others report operating range (min-max) 0.5 m to 3.5 m, indoor range 0.7 m to 3.5 m, outdoor range 10 m, and 2 more USB 3.0 only, 10-pin module receptacle second-hand only 2015 to 2017
Intel RealSense Depth Camera SR305 SR305 Intel coded light 640x480 at 60 fps 69 x 54° 0.2 to 1.5 m USB 3.1 Gen 1 Micro B second-hand only 2019 to 2020
Intel RealSense Depth Module SR300 SR300, Creative BlasterX Senz3D (VF0810) Intel coded light 640x480 at 60 fps 69 x 54° 0.2 to 1.5 m USB 3, via a 10-pin i-PEX 20347-310E-12R receptacle second-hand only 2016 to 2020
Intel RealSense LiDAR Camera L515 L515, LiDAR Camera L515 Intel scanning time of flight 1024x768 at 30 fps 3 modes in total 70 x 55° 0.25 to 9 m varies by mode USB 3.0 Type-C second-hand only 2019 to 2021
Intel RealSense ZR300 Camera ZR300 Intel active stereo 628x468 at 60 fps 3 modes in total 59 x 46° depth capture range 0.55 m to 2.8 m others report over 3.5 m indoor range and longer range outdoors USB 3.0, micro B connector second-hand only 2016 to 2017
LIPSedge AE400 90-IS41VNS05, LIPSedge AE400 Starter Kit LIPS active stereo 1280x720 at 30 fps640x480 at 60 fps 65 x 40° 0.45 to 4 m Gigabit Ethernet over an M12 X-code connector. Not USB sold new since 2023
Luxonis OAK-D BW1098OAK, OAK-D (USB boot) Luxonis passive stereo 1280x800 at 120 fps 3 modes in total 72 x 50° 0.2 to 38.25 m no single mode covers both ends USB Type-C, USB 3.1 gen 2 10 Gbps sold new
Luxonis OAK-D Lite DM9095_OAK-D-LITE, OAK-D Lite (default USB boot) Luxonis passive stereo 640x480 at 120 fps 72.9 x 57.7° ? USB Type-C, USB 3.1 gen 2 10 Gbps sold new since 2021
Luxonis OAK-D Pro DM9098_OAK-D-Pro, NG9097_OAK-D-Pro-PoE Luxonis active stereo 1280x800 at 120 fps 80 x 55° ? USB 2/3, up to 10 Gbps; a PoE variant exists sold new
Luxonis OAK-D S2 DM9098_OAK-D-S2, OAK-D S2 (USB boot) Luxonis passive stereo 1280x800 at 120 fps 80 x 55° ? USB Type-C, USB 3.1 gen 2 10 Gbps; a PoE variant exists sold new
Meta Quest 3 / Quest 3S depth sensor Quest 3 Depth API, XR_META_environment_depth Meta ? ? ? from 0.2 m no maximum published – sold new since 2023
Azure Kinect DK Azure Kinect, Kinect for Azure Microsoft time of flight 1024x1024 at 15 fps640x576 at 30 fps 5 modes in total 75 x 65°120 x 120° varies by mode 0.25 to 5.46 m no single mode covers both ends USB 3.0 Type-C second-hand only 2019 to 2023
HoloLens 2 depth sensor Kinect v3, HoloLens 2 Research Mode depth Microsoft time of flight 512x512 at 45 fps 2 modes in total ? up to 1 m no minimum published USB Type-C DRP on the headset, which does not expose a depth stream to a PC ? since 2019
Kinect for Windows v1 Kinect for Windows sensor, K4W v1 Microsoft structured light 640x480 at 30 fps 6 modes in total 57 x 43° 0.4 to 4 m no single mode covers both ends USB 2.0 on a dedicated bus, via the supplied power and USB splitter cable second-hand only 2012 to 2015
Kinect for Windows v2 K4W v2, Kinect v2 for Windows Microsoft time of flight 512x424 at 30 fps 70 x 60° 0.5 to 4.5 m USB 3.0 to the PC via the bundled hub, so no Kinect Adapter for Windows is needed second-hand only 2014 to 2015
Kinect for Xbox 360 Kinect, Kinect sensor Microsoft structured light 640x480 at 30 fps 3 modes in total 57 x 43° 0.8 to 4 m USB 2.0 plus mains power adapter on a PC. Proprietary AUX connector on later Xbox 360 consoles second-hand only 2010 to 2017
Kinect for Xbox One Kinect v2, Kinect 2.0 Microsoft time of flight 512x424 at 30 fps 70 x 60° 0.5 to 4.5 m proprietary connector to the Xbox One. On a PC it needs the Kinect Adapter for Windows, then USB 3.0 with a controller dedicated to the sensor second-hand only 2013 to 2017
MYNT EYE D1000 / D1200 D1000-120, D1000-50 MYNTAI (slightech) ? ? ? ? USB ?
Structure Core ST02D-C, Occipital Structure Core Occipital active stereo 1280x960 at 54 fps1280x800 at 60 fps ? 0.3 to 5 m USB 3 (Type-C), USB 2.0 operation supported second-hand only since 2019
Structure Sensor (original, ST01) ST01, ST01-S Occipital structured light 640x480 58 x 45° 0.4 to 3.5 m Lightning to iPad; USB 2.0 on desktop via the separate 'USB Hacker Cable' (SA02) second-hand only
Structure Sensor 3 ST03 Occipital active stereo ? ? ? not published sold new
Structure Sensor Mark II / Structure Sensor Pro ST02, Mark II Occipital active stereo 1280x960 59 x 46° 0.3 to 5 m Lightning or USB-C, USB 2.0 second-hand only superseded. since 2018
Astra Astra S, Astra Series Orbbec structured light 1280x1024 at 5 fps640x480 at 30 fps 4 modes in total 60 x 49.5 deg (73 deg diagonal) others report H58.4 x V45.5 deg 0.4 to 8 m no single mode covers both ends USB 2.0 Type-A second-hand only until 2025
Astra 2 A30003-15, USB VID/PID 0x2BC5/0x0660 Orbbec structured light 1600x1200 at 30 fps 6 modes in total 58.2 x 45.2° 0.6 to 8 m USB Type-C for data and power, USB 3.0 or USB 2.0 sold new since 2023
Astra Mini Pro Astra Mini S Pro, Astra Mini S Orbbec structured light 1280x1024 ? 0.6 to 6 m ? sold new
Astra Pro Astra Pro Plus Orbbec structured light 640x480 at 30 fps 60 x 49.5° 0.6 to 8 m USB 2.0 Type-A second-hand only until 2025
Astra Stereo S U3 Astra Stereo-S Orbbec active stereo ? ? ? USB 3.0 sold new
Astra+ Astra Plus, Astra+ S (short-range variant) Orbbec structured light 1280x1024 at 30 fps 2 modes in total 58.4 x 45.5° 0.6 to 8 m USB 3.0 Type-C for data and power, supports both USB 2.0 and 3.0 operation sold new end of life announced. until 2025
Femto Orbbec Femto (first generation) Orbbec time of flight 640x480 ? ? ? second-hand only until 2025
Femto Bolt F00364-152, USB VID/PID 0x2BC5/0x066B Orbbec time of flight 1024x1024640x576 at 30 fps 5 modes in total 75 x 65°120 x 120° varies by mode 0.25 to 5.46 m no single mode covers both ends USB Type-C, USB 3.2 Gen 1, dual screw locking connector sold new since 2023
Femto Mega F20364-552, USB VID/PID 0x2BC5/0x0669 Orbbec time of flight 1024x1024640x576 at 30 fps 5 modes in total 75 x 65°120 x 120° varies by mode 0.25 to 5.46 m no single mode covers both ends USB 3.2 Gen 1 Type-C, Gigabit Ethernet, 8-pin sync connector, micro USB for firmware upgrade and reset sold new since 2023
Femto Mega I Femto Mega I (IP65 industrial variant) Orbbec time of flight 1024x1024 at 15 fps640x576 at 30 fps 4 modes in total 120 x 120°75 x 65° varies by mode 0.25 to 5.46 m Ethernet only, M12 X-coding 8-pin industrial connector sold new end of life announced. 2023 to 2026
Femto W USB VID/PID 0x2BC5/0x0638 Orbbec time of flight ? ? ? ? second-hand only until 2025
Gemini Gemini (original, first generation) Orbbec active stereo ? ? ? not published second-hand only OEM or second-hand
Gemini 2 G20155-15, USB VID/PID 0x2BC5/0x0670 Orbbec active stereo 1280x800 at 30 fps640x400 at 60 fps 6 modes in total 91 x 66° 0.15 to 10 m varies by mode USB Type-C for data and power, USB 3.0 and USB 2.0 sold new since 2023
Gemini 2 L Gemini 2L, USB VID/PID 0x2BC5/0x0673 Orbbec active stereo 1280x800 at 30 fps 91 x 66° 0.2 to 10 m USB Type-C, USB 3.0 and USB 2.0 sold new
Gemini 2 XL Gemini 2XL, Gemini 2XL POE Orbbec active stereo 1280x800 at 10 fps640x400 at 20 fps 91 x 65° 0.4 to 20 m USB 2.0 Type-C, plus PoE Gigabit Ethernet sold new PoE version only. until 2026
Gemini 215 Gemini 210 (sibling) Orbbec active stereo 1280x800 at 30 fps 2 modes in total 63.5 x 45.6° 0.15 to 0.7 m no single mode covers both ends USB Type-C, USB 3.0 and USB 2.0 sold new
Gemini 330 Series Gemini 330, Gemini 330L Orbbec active stereo 1280x800 at 30 fps848x480 at 60 fps 18 modes in total 90 x 65°90 x 60° 4 combinations by mode 0.1 to 20 m varies by mode USB Type-C for data and power, USB 3.0 and USB 2.0 sold new since 2024
Gemini 335Le Orbbec active stereo 1280x800 at 30 fps848x530 at 60 fps 90 x 65° 0.25 to 20 m Gigabit Ethernet on M12 X-coded, IEEE 802.3af PoE, cable runs up to 100 m sold new
Persee Orbbec Persee Orbbec structured light 640x480 at 30 fps 60 x 49° 0.6 to 8 m USB 2.0 host port, micro-USB OTG, 10/100 Mbit Ethernet, Wi-Fi 802.11 2.4 GHz, Bluetooth, HDMI, AV out, 3.5 mm headphone jack, IR receiver second-hand only
Persee 2 Orbbec active stereo 1280x800 at 30 fps 91 x 66° 0.2 to 10 m USB 2.0 Type-A, USB 2.0 Type-C (debug and firmware update only), Gigabit Ethernet, HDMI 2.0, 3.5 mm audio out, microSD, Wi-Fi 802.11a/b/g/n/ac, Bluetooth 5.0 sold new end of life announced. until 2026
Persee N1 Orbbec active stereo 1280x800 at 30 fps 91 x 66° 0.15 to 10 m 2 x USB 3.0 Type-A, 2 x USB 2.0 Type-A, USB Type-C device mode only, Gigabit Ethernet with PoE, HDMI, DisplayPort, microSD, M.2 second-hand only until 2026
Persee+ Persee Plus Orbbec structured light 1280x1024 at 30 fps 58.4 x 45.5° 0.6 to 8 m Gigabit Ethernet, HDMI 2.0, microSD second-hand only until 2025
PrimeSense Carmine 1.08 Carmine 1.08, PrimeSense mid-range reference design PrimeSense structured light 640x480 at 60 fps 57.5 x 45° 0.8 to 3.5 m USB 2.0 / 3.0 second-hand only until 2014
PrimeSense Carmine 1.09 Carmine 1.09, PrimeSense short-range evaluation sensor PrimeSense structured light 640x480 at 60 fps 57.5 x 45° 0.35 to 1.4 m USB 2.0 / 3.0 second-hand only until 2014
RealSense Depth Camera D405 D405, Depth Module D401 RealSense passive stereo 1280x720 at 30 fps848x480 at 90 fps 5 modes in total 84 x 58° 7 cm to 1 m others report ideal range 7 cm to 50 cm USB 2.0 / USB 3.1 Gen 1, Type-C sold new since 2022
RealSense Depth Camera D415 D415, Depth Module D415 RealSense active stereo 1280x720 at 30 fps848x480 at 90 fps 6 modes in total 65 x 40°50 x 40° varies by mode 0.3 m to over 4 m others report ideal range 0.5 m to 3 m USB-C 3.1 Gen 1, also runs on USB 2.0 with reduced modes sold new since 2018
RealSense Depth Camera D435 D435, Depth Module D430 RealSense active stereo 1280x720 at 30 fps848x480 at 90 fps 8 modes in total 87 x 58°75 x 62° varies by mode 0.2 m to over 3 m others report ideal range 0.3 m to 3 m USB-C 3.1 Gen 1, also USB 2.0 with reduced modes sold new since 2018
RealSense Depth Camera D435i D435i RealSense active stereo 1280x720 at 30 fps848x480 at 90 fps 6 modes in total 87 x 58°75 x 62° varies by mode 0.2 m to over 3 m others report ideal range 0.3 m to 3 m USB-C 3.1 Gen 1, also USB 2.0 with reduced modes sold new since 2019
RealSense Depth Camera D436 D436 RealSense active stereo 1280x720 at 30 fps848x480 at 90 fps 6 modes in total 87 x 58°75 x 62° varies by mode 0.2 m to over 3 m USB Type-C sold new since 2026
RealSense Depth Camera D455 D455, Depth Module D450 RealSense active stereo 1280x720 at 30 fps848x480 at 90 fps 6 modes in total 87 x 58°75 x 62° varies by mode 0.4 m to over 6 m others report ideal range 0.6 m to 6 m, 0.33 to 4.2 m USB-C 3.1 Gen 1, also USB 2.0 with reduced modes sold new since 2020
RealSense Depth Camera D456 D456 RealSense active stereo 1280x720 at 30 fps848x480 at 90 fps 6 modes in total 87 x 58°75 x 62° varies by mode 0.4 m to over 6 m others report ideal range 0.6 m to 6 m USB-C, same as D455 sold new since 2023
RealSense Depth Camera D457 D457, D457 GMSL/FAKRA RealSense active stereo 1280x720 at 30 fps848x480 at 90 fps 6 modes in total 87 x 58°75 x 62° varies by mode 0.4 m to over 10 m others report ideal range 0.6 m to 6 m GMSL 2 over FAKRA coaxial; USB 2.0 / 3.1 Type-C for production line and debug only sold new since 2022
RealSense Depth Camera D555 D555, D555 PoE RealSense active stereo 1280x720 at 30 fps896x504 at 60 fps 4 modes in total 87 x 58° ideal range 60 cm to 6 m RJ45 Gigabit Ethernet 1000BASE-T with PoE IEEE 802.3at 15 W or higher sold new since 2025
RealSense Depth Module D421 D421, 82635DSD421 RealSense active stereo 1280x720 at 30 fps848x480 at 90 fps 5 modes in total 75 x 50° recommended range 0.2 m to over 2 m others report recommended range of 0.2 to 3 m USB Peripheral Type-C sold new since 2024
Revopoint handheld 3D scanners POP, POP 2 Revopoint 3D ? ? ? ? USB, plus a phone mount option on some models sold new
SoftKinetic DepthSense 311 (DS311) DS311, DepthSense 311 SoftKinetic time of flight 160x120 at 60 fps 2 modes in total 57.3 x 42° 0.15 to 4.5 m no single mode covers both ends single USB plus external power second-hand only since 2011
SoftKinetic DepthSense 320 (DS320) DS320, DepthSense 320 SoftKinetic time of flight ? ? ? not published second-hand only since 2013
SoftKinetic DepthSense 325 (DS325) DS325, DepthSense 325 SoftKinetic time of flight 320x240 at 30 fps320x240 at 60 fps 74 x 58° 0.15 to 1 m single USB connection, bus powered (no separate power cable) second-hand only since 2012
SoftKinetic DepthSense 525 (DS525) DS525, DepthSense 525 SoftKinetic time of flight 320x240 at 30 fps320x240 at 60 fps 74 x 58° 0.15 to 1 m not published second-hand only
SoftKinetic DepthSense 536 (DS536) DS536, DepthSense 536 SoftKinetic time of flight ? ? from 0.15 m no maximum published not published second-hand only
ZED ZED Stereo Camera, ZED 1 StereoLabs passive stereo 2208x1242 at 15 fps672x376 at 100 fps 4 modes in total 110 deg diagonal max, no horizontal or vertical figure given others report not published: the ZED is omitted from the current Help Center comparison table, so no current H x V figure exists 0.5 to 20 m USB 3.0, integrated 1.5 m cable (not removable) second-hand only since 2015
ZED 2 ZED2, ZED-211000 StereoLabs passive stereo 2208x1242 at 15 fps672x376 at 100 fps 4 modes in total 110 x 70° 0.3 to 20 m USB 3.0, integrated 1.2 m cable (not removable) second-hand only 2019 to 2024
ZED 2i ZED2i, ZED2i21MM StereoLabs passive stereo 2208x1242 at 15 fps672x376 at 100 fps 8 modes in total 110 x 70°72 x 44° varies by mode 0.3 to 35 m no single mode covers both ends USB 3.0 Type-C, removable cable up to 10 m with thumbscrew locking connectors (1.5 m supplied) sold new since 2021
ZED Mini ZED-M, ZED mini StereoLabs passive stereo 2208x1242 at 15 fps672x376 at 100 fps 4 modes in total 102 x 57° 0.1 to 15 m USB 3.0 Type-C, removable cable (1.5 m and 4 m supplied) sold new since 2017
ZED X ZED-X, ZED X GS StereoLabs passive stereo 1920x1200 at 60 fps960x600 at 120 fps 6 modes in total 110 x 80° 0.3 to 35 m no single mode covers both ends GMSL2 only (serial coax, FAKRA Z, cable up to 15 m), via a ZED Link Mono / Duo / Quad capture card or a ZED Box sold new since 2022
ZED X Mini ZED XM, ZED-311210 StereoLabs passive stereo 1920x1200 at 60 fps960x600 at 120 fps 6 modes in total 110 x 80° 0.1 to 12 m no single mode covers both ends GMSL2 only (serial coax, FAKRA Z, cable up to 15 m), via a ZED Link Mono / Duo / Quad capture card or a ZED Box sold new since 2022
ZED X Nano ZED X Nano Stereo Camera, ZED-314310 StereoLabs passive stereo 1920x1200 at 60 fps960x600 at 120 fps 3 modes in total 92 x 65° 0.03 to 2 m GMSL2 only (serial coax, FAKRA Z, cable up to 15 m), via a ZED Link Mono / Duo / Quad capture card or a ZED Box sold new since 2026
ZED X One 4K ZED X One, ZED One StereoLabs passive stereo 3840x2160 at 15 fps960x600 at 120 fps 3 modes in total 110 x 72° ? GMSL2 (serial coax, FAKRA Z, cable up to 15 m), via a ZED Link capture card or a ZED Box sold new since 2024
ZED X One Core ZED X One, ZED One StereoLabs passive stereo 1920x1200 at 60 fps960x600 at 120 fps 5 modes in total 73 x 45°110 x 80° 3 combinations by mode ? MIPI CSI-2, not GMSL2. Physical connector is a Micro I-PEX cable to a capture card sold new
ZED X One GS ZED X One, ZED One StereoLabs passive stereo 1920x1200 at 60 fps960x600 at 120 fps 6 modes in total 110 x 80°73 x 45° varies by mode ? GMSL2 (serial coax, FAKRA Z, cable up to 15 m), via a ZED Link capture card, ZED Box Orin or ZED Box Mini sold new since 2024
ZED X One S ZED X One, ZED One StereoLabs passive stereo 1920x1200 at 60 fps960x600 at 120 fps 5 modes in total 73 x 45°110 x 80° 3 combinations by mode ? GMSL2 (serial coax, FAKRA Z, cable up to 15 m), via a ZED Link capture card or a ZED Box sold new since 2025
Leap Motion Controller Leap Motion Controller (2013), LMC Ultraleap active stereo – hands are solved on the device, no depth image 120 x 150 degrees up to 0.8 m no near limit published USB 2.0, packaged with a USB 2/3 hybrid cable second-hand only since 2013
Leap Motion Controller 2 Leap 2, LMC2 Ultraleap active stereo – hands are solved on the device, no depth image 160 x 160 degrees maximum 0.1 to 1.1 m others give 0.75 m USB 3.0 via USB Type-C connector sold new since 2023
Ultraleap 3Di 3Di Stereo Hand Tracking Camera, SP2-00003-01 Ultraleap active stereo – hands are solved on the device, no depth image 170 x 170 degrees typical, 160 x 160 degrees minimum 0.1 to 1 m USB 2.0 via micro USB Type-B connector sold new
Ultraleap Stereo IR 170 Stereo IR 170 Camera Module Evaluation Kit, SIR170 Ultraleap active stereo – hands are solved on the device, no depth image 170 x 170 degrees typical, 160 x 160 degrees minimum 0.1 to 1 m micro USB Type-B (USB 2.0 or 3.0) in the plastic housing; the bare PCB module can be wired directly sold new
Vzense NYX650 / NYX660 NYX series, NYX650 Vzense other 640x480 at 30 fps 2 modes in total 70 x 50°67 x 50° varies by mode 0.15 to 5 m varies by mode NYX650 RJ45 plus M8 aviation connectors, '1000M ethernet&RS485'. NYX660 M12 plus M8. Not USB sold new

Scroll the table sideways. The sensor column stays put.

Spotted a number that is wrong, or a sensor that should be here? Tell me and I will fix it. Corrections and additions are both welcome.

Sensor by sensor

Azure Kinect DK

Also sold or listed as Azure Kinect, Kinect for Azure, K4A

The Azure Kinect DK is Microsoft's time of flight depth camera, sold from 2019 until 2023 and second-hand only since. It has five depth modes, from 640x576 at 30 fps up to 1024x1024 at 15 fps, and the field of view switches with the mode: a 120 degree wide mode that reaches in to 0.25 m, a 75 degree narrow one that reaches out to 5.46 m binned. Body v3 and PointCloud v3 both support it, and the Orbbec Femto Bolt is the same Microsoft depth module in a camera still sold new.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
NFOV unbinned 640x576 5, 15, 30 75 x 65° 0.5 to 3.86 m
NFOV 2x2 binned (SW) 320x288 5, 15, 30 75 x 65° 0.5 to 5.46 m
WFOV 2x2 binned 512x512 5, 15, 30 120 x 120° 0.25 to 2.88 m
WFOV unbinned 1024x1024 5, 15 120 x 120° 0.25 to 2.21 m
Passive IR 1024x1024 5, 15, 30 – not applicable
Interface
USB 3.0 Type-C
Power
external PSU or USB-C carrying power and data, up to 5.9 W
Hardware sync
3.5 mm Sync In and Sync Out jacks, under the removable outer cover
Devices per machine
9 others report 10, 8
Interference
yes, mitigated by hardware sync. Captures must be offset from one another by 160 us or more so that each laser fires while the others are idle
SDK
Azure Kinect Sensor SDK, plus the separate Azure Kinect Body Tracking SDK and Azure AI Speech SDK
SDK status
archived

Brekel apps

Sources

Kinect for Xbox One

Also sold or listed as Kinect v2, Kinect 2.0, the new Kinect

The Kinect v2 is the Xbox One sensor and its Kinect for Windows twin, the same hardware under two names. One time of flight depth mode, 512x424 at 30 fps over 70 by 60 degrees, from 0.5 to 4.5 m. Body v2, Body v3, Face v2, PointCloud v2 and PointCloud v3 all support it, one sensor per machine, and connecting one to a PC needs the separately sold USB 3.0 adapter.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
One mode 512x424 30 70 x 60° 0.5 to 4.5 m
Interface
proprietary connector to the Xbox One. On a PC it needs the Kinect Adapter for Windows, then USB 3.0 with a controller dedicated to the sensor
Power
not bus powered. On a PC, power comes from the adapter's mains supply, 100 to 240 V
Hardware sync
none
Devices per machine
1
Interference
yes, and there is no mitigation on this sensor. Two units 0.5 m apart viewing a wall at 1.2 m gave RMSE under 5 mm on most frames but extreme errors on about 25 percent of frames, up to 19.3 mm RMSE, with invalid pixels rising to 22.7 percent from zero otherwise
SDK
Kinect for Windows Software Development Kit (SDK) 2.0, final version 2.0.1410.19000
SDK status
abandoned, no release since 2.0 in October 2014

Brekel apps

Every app: one sensor per machine in every app, a Microsoft driver restriction.

Sources

Kinect for Windows v1

Also sold or listed as Kinect for Windows sensor, K4W v1, Kinect v1

The Kinect v1 is the 2010 Xbox 360 sensor and its Kinect for Windows version, structured light depth at 640x480 and 30 fps over 57 by 43 degrees. Default range is 0.8 to 4 m, and near mode narrows it to 0.4 to 3 m on Kinect for Windows hardware only. Body v1, Body v3, Face v1, PointCloud v1 and PointCloud v3 support it.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
640x480 Default range 640x480 30 57 x 43° 0.8 to 4 m
640x480 Near range 640x480 30 57 x 43° 0.4 to 3 m
320x240 Default range 320x240 30 57 x 43° 0.8 to 4 m
320x240 Near range 320x240 30 57 x 43° 0.4 to 3 m
80x60 Default range 80x60 30 57 x 43° 0.8 to 4 m
80x60 Near range 80x60 30 57 x 43° 0.4 to 3 m
Interface
USB 2.0 on a dedicated bus, via the supplied power and USB splitter cable
Power
not bus powered, mains power adapter required and supplied in the box
Hardware sync
none
Devices per machine
4
Interference
yes, IR patterns interfere and skeleton IDs are not synchronised across sensors. Microsoft recommends no more than one sensor pointed at a field of view where skeletal tracking happens
SDK
Kinect for Windows Software Development Kit (SDK), final version 1.8.0.595
SDK status
abandoned, no release since 1.8 in 2013

Brekel apps

  • Body v1
  • Body v3: one fixed mode, 640x480 at 30 fps
  • Face v1: near mode also needs Skeleton Assisted Tracking switched on
  • PointCloud v1: Extended Depth reaches in to 40 cm on any v1 unit, and is not the same thing as near mode
  • PointCloud v3

Every app: near mode, which tracks from 40 cm instead of 80, needs a Kinect for Windows unit. The Xbox 360 sensor, which is what most people own, does not have it.

Sources

Femto Bolt

Also sold or listed as F00364-152, USB VID/PID 0x2BC5/0x066B

The Femto Bolt is Orbbec's 2023 successor to the Azure Kinect DK: the same Microsoft time of flight module, the same five depth modes and the same ranges, in a camera that is still sold new. Body v3 reaches it through Orbbec's K4A wrapper, so it gets the Azure Kinect body tracker and auto-configured wired sync. PointCloud v3 reaches it through the native Orbbec SDK instead, which has neither.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
NFOV unbinned 640x576 5, 15, 25, 30 75 x 65° 0.5 to 3.86 m
NFOV 2x2 binned 320x288 5, 15, 25, 30 75 x 65° 0.5 to 5.46 m
WFOV 2x2 binned 512x512 5, 15, 25, 30 120 x 120° 0.25 to 2.88 m
WFOV unbinned 1024x1024 ? 120 x 120° 0.25 to 2.21 m
Passive IR 1024x1024 5, 15, 25, 30 – not published
Interface
USB Type-C, USB 3.2 Gen 1, dual screw locking connector
Power
4.35 W average others report 8.7 W (DC power + USB-C data) / 7.7 W (USB-C power + data), 7.5 W max (4.0 W avg.)
Hardware sync
8-pin GPIO connector
Devices per machine
8 others report 10, 9, and 1 more
Interference
yes, mitigated by hardware sync
SDK
Orbbec SDK v2 or v1, plus the Orbbec SDK K4A Wrapper
SDK status
actively released

Brekel apps

  • Body v3: body tracking and auto-configured wired sync, but it cannot share a machine with an Azure Kinect
  • PointCloud v3: a different code path: no hardware sync and no body tracker, and it can share a machine with an Azure Kinect
Sources

Femto Mega

Also sold or listed as F20364-552, USB VID/PID 0x2BC5/0x0669

The Femto Mega is the Femto Bolt with Ethernet and PoE added, still sold new, with the same five depth modes and the same ranges. Body v3 and PointCloud v3 support it over USB only: the network path exists in Orbbec's SDK, and my apps do not turn it on.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
NFOV unbinned 640x576 5, 15, 25, 30 75 x 65° 0.5 to 3.86 m
NFOV 2x2 binned 320x288 5, 15, 25, 30 75 x 65° 0.5 to 5.46 m
WFOV 2x2 binned 512x512 5, 15, 25, 30 120 x 120° 0.25 to 2.88 m
WFOV unbinned 1024x1024 ? 120 x 120° 0.25 to 2.21 m
Passive IR 1024x1024 5, 15, 25, 30 – not published
Interface
USB 3.2 Gen 1 Type-C, Gigabit Ethernet, 8-pin sync connector, micro USB for firmware upgrade and reset
Power
DC 12V 2A, PoE+ 802.3at (24 W), or USB Type-C 5V 3A
Hardware sync
8-pin connector
Devices per machine
not published
Interference
yes, mitigated by hardware sync
SDK
Orbbec SDK v2 or v1, plus the Orbbec SDK K4A Wrapper
SDK status
actively released

Brekel apps

  • Body v3: body tracking and auto-configured wired sync, but it cannot share a machine with an Azure Kinect
  • PointCloud v3: a different code path: no hardware sync and no body tracker, and it can share a machine with an Azure Kinect

Every app: USB only, the Ethernet path is not supported.

Sources

Astra

Also sold or listed as Astra S, Astra Series

The Astra is Orbbec's structured light camera, discontinued in 2025 and second-hand only now. Depth is 640x480 at 30 fps from 0.6 to 8 m, plus a 1280x1024 mode at 5 fps that only the Astra S has. Body v3, PointCloud v2 and PointCloud v3 support it, one sensor per machine while body tracking is on.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
VGA 640x480 30 – 0.6 to 8 m
QVGA 320x240 30 – 0.6 to 8 m
QQVGA 160x120 30 – 0.6 to 8 m
SXGA (Astra S only, Windows only) 1280x1024 5 – 0.4 to 2 m
Interface
USB 2.0 Type-A
Power
bus-powered over USB 2.0, average under 2.4 W
Hardware sync
–
Devices per machine
not published
Interference
not published
SDK
Astra SDK or OpenNI 2
SDK status
Astra SDK 2.1.3 is EOL, end of support 2022Q3; OpenNI SDK 2.3.0.86 still downloadable with no deprecation notice

Brekel apps

  • Body v3: one sensor per machine while body tracking is on, which is a body tracker limit rather than a driver one
  • PointCloud v2: fixed at 640x480 and 30 fps
  • PointCloud v3: no single sensor limit here, every Astra found is used
Sources

RealSense Depth Camera D455

Also sold or listed as D455, Depth Module D450

The RealSense D455 is an active stereo camera from 2020, still sold new, with 1280x720 depth at 30 fps over 87 by 58 degrees and 848x480 at up to 90 fps. Its wider baseline is what makes it the D400 to use past a metre. Body v3, PointCloud v2 and PointCloud v3 support it, and the D456 is the same camera with an IP65 rating, so everything here is true of it too.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
1280x720 (16:9) 1280x720 5, 15, 30 87 x 58° 0.52 to ? m
848x480 (16:9) 848x480 5, 15, 30, 60, 90 87 x 58° 0.35 to ? m
640x480 (4:3) 640x480 5, 15, 30, 60, 90 75 x 62° 0.32 to ? m
640x360 (16:9) 640x360 5, 15, 30, 60, 90 87 x 58° 0.26 to ? m
480x270 (16:9) 480x270 5, 15, 30, 60, 90 87 x 58° 0.2 to ? m
424x240 (16:9) 424x240 5, 15, 30, 60, 90 87 x 58° 0.18 to ? m
Interface
USB-C 3.1 Gen 1, also USB 2.0 with reduced modes
Power
bus-powered, 5 V VBUS, 3461.47 mW at max operating mode
Hardware sync
9-pin JST sync header, depth and RGB both triggerable
Devices per machine
not published
Interference
none, and extra projectors help
SDK
RealSense SDK 2.0 (librealsense2)
SDK status
actively maintained

Brekel apps

  • Body v3: needs Deep Tracking switched on under Skeleton Settings, and there is no SDK face tracker for RealSense
  • PointCloud v2: fixed mode menu, same 0.4 to 20 m clamp
  • PointCloud v3: range clamped to 0.4 to 20 m
Sources

RealSense Depth Camera D435

Also sold or listed as D435, Depth Module D430

The RealSense D435 is an active stereo camera from 2018, still sold new, with 1280x720 depth at 30 fps over 87 by 58 degrees and 848x480 at up to 90 fps. Depth starts at about 0.2 m, which is why it is the one people reach for close in. Body v3, PointCloud v2 and PointCloud v3 support it. The D435i is the same camera plus an IMU, which none of my apps read.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
1280x720 (16:9) 1280x720 6, 15, 30 87 x 58° 0.28 to ? m
848x480 (16:9) 848x480 6, 15, 30, 60, 90 87 x 58° 0.195 to ? m
640x480 (4:3) 640x480 6, 15, 30, 60, 90 75 x 62° 0.175 to ? m
640x360 (16:9) 640x360 6, 15, 30, 60, 90 87 x 58° 0.15 to ? m
480x270 (16:9) 480x270 6, 15, 30, 60, 90 87 x 58° 0.12 to ? m
424x240 (16:9) 424x240 6, 15, 30, 60, 90 87 x 58° 0.105 to ? m
256x144 (firmware only) 256x144 300 – not published
848x100 (firmware only) 848x100 300 – not published
Interface
USB-C 3.1 Gen 1, also USB 2.0 with reduced modes
Power
bus-powered, 5 V VBUS, 3402.97 mW at max operating mode
Hardware sync
9-pin JST sync header, depth only
Devices per machine
not published
Interference
none, and extra projectors help
SDK
RealSense SDK 2.0 (librealsense2)
SDK status
actively maintained

Brekel apps

  • Body v3: needs Deep Tracking switched on under Skeleton Settings, and there is no SDK face tracker for RealSense
  • PointCloud v2: fixed mode menu, same 0.11 to 10 m clamp
  • PointCloud v3: range clamped to 0.11 to 10 m
Sources

RealSense Depth Camera D415

Also sold or listed as D415, Depth Module D415, D410 module plus RGB

The RealSense D415 is an active stereo camera from 2018, still sold new, with 1280x720 depth at 30 fps over 65 by 40 degrees. The narrower field is the point: it puts more pixels on a small subject, which is what makes it the D400 for detail under half a metre. Body v3, PointCloud v2 and PointCloud v3 support it.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
1280x720 (16:9) 1280x720 6, 15, 30 65 x 40° 0.45 to ? m
848x480 (16:9) 848x480 6, 15, 30, 60, 90 65 x 40° 0.31 to ? m
640x480 (4:3) 640x480 6, 15, 30, 60, 90 50 x 40° 0.31 to ? m
640x360 (16:9) 640x360 6, 15, 30, 60, 90 65 x 40° 0.24 to ? m
480x270 (16:9) 480x270 6, 15, 30, 60, 90 65 x 40° 0.18 to ? m
424x240 (16:9) 424x240 6, 15, 30, 60, 90 65 x 40° 0.16 to ? m
Interface
USB-C 3.1 Gen 1, also runs on USB 2.0 with reduced modes
Power
bus-powered, 5 V VBUS, 2961.97 mW at max operating mode
Hardware sync
9-pin JST sync header, depth and RGB both triggerable
Devices per machine
not published
Interference
none, and extra projectors help
SDK
RealSense SDK 2.0 (librealsense2)
SDK status
actively maintained

Brekel apps

  • Body v3: needs Deep Tracking switched on under Skeleton Settings, and there is no SDK face tracker for RealSense
  • PointCloud v2: fixed mode menu, same 0.16 to 10 m clamp
  • PointCloud v3: range clamped to 0.16 to 10 m
Sources

Intel RealSense LiDAR Camera L515

Also sold or listed as L515, LiDAR Camera L515

The L515 does not work like anything else here. It sweeps a beam with a MEMS mirror and reads a single photodiode, rather than measuring phase across a pixel array, so what the page says about time of flight is not true of it. Intel sold it from 2019 to 2021 and dropped it from librealsense at 2.55. My apps link 2.58, so current versions cannot see one whatever the older ones did.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
QVGA 320x240 30 70 x 55° 0.25 to 9 m
VGA 640x480 30 70 x 55° 0.25 to 9 m
XGA 1024x768 30 70 x 55° 0.25 to 6.5 m
Interface
USB 3.0 Type-C
Power
bus-powered over USB VBUS; idle 0.8 W, up to 3.3 W streaming
Hardware sync
3-pin JST, master/slave
Devices per machine
16
Interference
yes, when fields of view overlap; hardware sync is the fix
SDK
RealSense SDK 2.0 (librealsense2)
SDK status
no supported SDK branch at all

Brekel apps

not in current versions. Intel dropped the L515 from librealsense at 2.55, and the apps link 2.58.

Sources

ZED X

Also sold or listed as ZED-X, ZED X GS, ZED-311110

The ZED X is StereoLabs' GMSL2 camera from 2022: passive stereo at 1920x1200 and up to 60 fps over 110 by 80 degrees, out to 20 m, with a narrow lens option that reaches 35 m. It connects over coax to a capture card rather than over USB. Body v3 and PointCloud v3 name the model, but nobody has run one here, so treat it as untested.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
1200p, 2.2 mm lens 1920x1200 15, 30, 60 110 x 80° 0.3 to 20 m
1080p, 2.2 mm lens 1920x1080 15, 30, 60 110 x 80° 0.3 to 20 m
600p, 2.2 mm lens 960x600 15, 30, 60, 120 110 x 80° 0.3 to 20 m
1200p, narrow lens 1920x1200 15, 30, 60 – 1 to 35 m
1080p, narrow lens 1920x1080 15, 30, 60 – 1 to 35 m
600p, narrow lens 960x600 15, 30, 60, 120 – 1 to 35 m
Interface
GMSL2 only (serial coax, FAKRA Z, cable up to 15 m), via a ZED Link Mono / Duo / Quad capture card or a ZED Box
Power
Power over Coax on the GMSL2 link, typical 1.46 W (0.122 A at 12 V), supply rating 5 V to 20 V
Hardware sync
yes, frame-level hardware sync over GMSL2. Cameras on the same ZED Link Duo or Quad are automatically frame-synchronized, the card can act as trigger master or slave, and cards can be chained so all cameras share one trigger
Devices per machine
8
Interference
none between units: passive stereo, projects no laser, IR pattern or ToF signal, so multiple cameras can operate in the same space
SDK
ZED SDK, plus a separate ZED X GMSL2 driver on the Jetson
SDK status
maintained, current version 5.4.1 released 23 Jul 2026

Brekel apps

Every app: the apps name the model, but it connects over GMSL2 rather than USB and nobody has run one here.

Sources

ZED 2

Also sold or listed as ZED2, ZED-211000

The ZED 2 is passive stereo from 2019, 2208x1242 at 15 fps or 720p at 60, over 110 by 70 degrees, with depth from 0.3 out to 20 m. It was the first ZED that could do body tracking, which needs the IMU the original ZED does not have. Body v3 and PointCloud v3 support it. Discontinued in 2024, so second-hand only.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
2.2K 2208x1242 15 110 x 70° 0.3 to 20 m
1080p 1920x1080 15, 30 110 x 70° 0.3 to 20 m
720p 1280x720 15, 30, 60 110 x 70° 0.3 to 20 m
WVGA 672x376 15, 30, 60, 100 110 x 70° 0.3 to 20 m
Interface
USB 3.0, integrated 1.2 m cable (not removable)
Power
bus-powered over USB, 380 mA at 5 V (about 1.9 W). No PoE and no 12 V option
Hardware sync
none: USB cameras expose no hardware trigger. Alignment is by SDK image timestamps or PTP over Ethernet
Devices per machine
not published
Interference
none between units: passive stereo, projects no laser, IR pattern or ToF signal, so multiple cameras can operate in the same space
SDK
ZED SDK
SDK status
maintained, current version 5.4.1 released 23 Jul 2026; the ZED 2 is still listed as a supported USB camera despite being out of production

Brekel apps

  • Body v3: the first ZED that can do body tracking, depth clamped to 0.2 to 20 m
  • PointCloud v3: depth clamped to 0.2 to 20 m
Sources

ZED 2i

Also sold or listed as ZED2i, ZED2i21MM, ZED2i21MMP

The ZED 2i is the ZED 2 in a sealed housing, still sold new, and the lens is a choice: 2.1 mm covers 110 by 70 degrees from 0.3 m, 4 mm covers 72 by 44 degrees and reaches 35 m. Resolutions and framerates match the ZED 2. Body v3 and PointCloud v3 support it.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
2.2K, 2.1 mm lens 2208x1242 15 110 x 70° 0.3 to 20 m
1080p, 2.1 mm lens 1920x1080 15, 30 110 x 70° 0.3 to 20 m
720p, 2.1 mm lens 1280x720 15, 30, 60 110 x 70° 0.3 to 20 m
WVGA, 2.1 mm lens 672x376 15, 30, 60, 100 110 x 70° 0.3 to 20 m
2.2K, 4 mm lens 2208x1242 15 72 x 44° 1.5 to 35 m
1080p, 4 mm lens 1920x1080 15, 30 72 x 44° 1.5 to 35 m
720p, 4 mm lens 1280x720 15, 30, 60 72 x 44° 1.5 to 35 m
WVGA, 4 mm lens 672x376 15, 30, 60, 100 72 x 44° 1.5 to 35 m
Interface
USB 3.0 Type-C, removable cable up to 10 m with thumbscrew locking connectors (1.5 m supplied)
Power
bus-powered over USB, 380 mA at 5 V (about 1.9 W)
Hardware sync
none: USB cameras expose no hardware trigger. Alignment is by SDK image timestamps or PTP over Ethernet
Devices per machine
not published
Interference
none between units: passive stereo, projects no laser, IR pattern or ToF signal, so multiple cameras can operate in the same space
SDK
ZED SDK
SDK status
maintained, current version 5.4.1 released 23 Jul 2026; ZED 2i supported

Brekel apps

Sources

Leap Motion Controller 2

Also sold or listed as Leap 2, LMC2, SP4-00005-03

The Leap Motion Controller 2 is Ultraleap's 2023 hand tracker: active stereo IR over 160 by 160 degrees, from 10 cm out to about a metre. It has no depth stream at all, because hands arrive already solved from the Ultraleap service. Brekel Hands supports it, one sensor per machine.

Interface
USB 3.0 via USB Type-C connector
Power
bus-powered, 5 VDC via USB, 500 mA
Hardware sync
not published
Devices per machine
not published
Interference
not published
SDK
Ultraleap Hyperion
SDK status
maintained

Brekel apps

  • Hands: one sensor per machine
Sources

Ultraleap Stereo IR 170

Also sold or listed as Stereo IR 170 Camera Module Evaluation Kit, SIR170, Rigel

The Stereo IR 170 is Ultraleap's wide module, 170 by 170 degrees from 10 cm out to 1 m, sold as an evaluation kit for embedding rather than as a desktop unit. Like every Ultraleap device it outputs solved hands rather than depth. Brekel Hands supports it, one sensor per machine.

Interface
micro USB Type-B (USB 2.0 or 3.0) in the plastic housing; the bare PCB module can be wired directly
Power
bus-powered, 5 V DC via USB, minimum 0.5 A
Hardware sync
not published
Devices per machine
not published
Interference
not published
SDK
Ultraleap tracking software (developer.ultraleap.com)
SDK status
supported

Brekel apps

  • Hands: one sensor per machine
Sources

Leap Motion Controller

Also sold or listed as Leap Motion Controller (2013), LMC, Leap 1

The original Leap Motion Controller is the 2013 desktop hand tracker, 120 by 150 degrees out to about 0.8 m, second-hand only now. Solved hands, no depth stream. Brekel Hands supports it, one sensor per machine.

Interface
USB 2.0, packaged with a USB 2/3 hybrid cable
Power
bus-powered over USB
Hardware sync
not published
Devices per machine
not published
Interference
not published
SDK
Leap Motion SDK / Ultraleap tracking service
SDK status
supported

Brekel apps

  • Hands: one sensor per machine
Sources

Apple LiDAR Scanner (iPhone Pro / iPad Pro)

Also sold or listed as LiDAR Scanner, ARKit sceneDepth

The LiDAR scanner in the iPhone Pro and iPad Pro produces a 256x192 depth map at 60 fps out to about 5 m, fused with the camera image by Apple's own model. No Brekel app supports it, and none can: Windows never sees an iPhone as a camera.

Not supported. Apple exposes depth only inside iOS and iPadOS, so a PC sees an iOS device rather than a depth camera, and no amount of Windows-side work changes that. A third-party bridge app can carry the frames across, and even then it is a 256 x 192 map out to 5 m, partly inferred by Apple's own model, with no hardware sync between two devices. Multi-sensor capture, which is the main reason to use depth for body work, is not achievable.

Depth modes as the driver reports them
Mode Resolution fps Field of view Range
ARKit sceneDepth 256x192 60 – ? to 5 m
Interface
–
Power
internal battery
Hardware sync
–
Devices per machine
–
Interference
not published
SDK
ARKit (ARFrame.sceneDepth) and AVFoundation
SDK status
maintained
Sources