Why Does Depth of Field Matter for Machine Vision?
Depth of field is the foundation of sharp, reliable machine vision. It determines which parts of your scene will be in focus and which will be blurry – directly impacting whether your computer vision algorithms can detect features, read barcodes, or guide robot movements accurately.
Think of DoF as your camera's "sharpness zone." Too shallow, and critical objects blur out of focus. Too deep (requiring small apertures), and you might not gather enough light for fast shutter speeds, causing motion blur instead.
Quick Rule of Thumb
For most robotics applications: Set your aperture, focus at the hyperfocal distance, and use the widest field of view that still captures necessary detail. This maximizes your working range while maintaining good light sensitivity.
What Do the Calculator Results Actually Mean?
| 파라미터 | What It Tells You | Typical Values | Application Impact |
|---|---|---|---|
| Near Focus Limit | Closest distance where objects are sharp | 0.2m - 2m | Minimum working distance for inspection |
| Far Focus Limit | Farthest distance with acceptable sharpness | 1m - ∞ | Maximum detection range |
| Hyperfocal Distance | Focus here for maximum depth of field | 0.5m - 10m | Optimal fixed-focus setting |
| Total DoF | Range between near and far limits | 0.1m - ∞ | Working envelope size |
| Circle of Confusion | Maximum blur spot still seen as "sharp" | 1-4 pixels | Sharpness tolerance |
| Nyquist Frequency | Finest resolvable detail | 100-500 lp/mm | Resolution limit |
| Depth of Focus | Sensor positioning tolerance | ±10-100μm | Mechanical precision needed |
How Do I Choose the Right Settings for My Application?
Mobile Robot Navigation
- Goal: Minimize motion blur
- Focal Length: 2.8-6mm
- Aperture: f/1.4-2.8
- Focus: Hyperfocal
- CoC: 2-4 pixels
Pick & Place Vision
- Goal: Sharp at working distance
- Focal Length: 6-25mm
- Aperture: f/2.8-4
- Focus: Working plane
- CoC: 1-2 pixels
Quality Inspection
- Goal: Maximum sharpness
- Focal Length: 12-35mm
- Aperture: f/2.8-6.0
- Focus: Fixed distance
- CoC: 1 pixel
What's the Physics Behind These Calculations?
The Gaussian Optics Foundation
This calculator uses the thin lens equation and geometric optics to determine depth of field. The basic formula relates object distance (u), image distance (v), and focal length (f):
Hyper Focal Distance
The hyperfocal distance is the distance at which if you focus a camera, everything from half hyperfocal distance to infinity will be in focus.
Why Circle of Confusion Matters
The circle of confusion (CoC) is your tolerance for blur. A point source that's out of focus becomes a blur circle on your sensor. When this circle is smaller than your CoC threshold, you perceive it as "sharp enough."
⚠️ Choosing Your CoC
1 pixel CoC: Use for precision measurement and barcode reading
2 pixel CoC: Standard for most machine vision tasks
4 pixel CoC: Acceptable for object detection and tracking
Remember: Doubling your CoC roughly doubles your depth of field!
When Do Simple DoF Formulas Break Down?
Diffraction Limits at Small Apertures
At apertures smaller than f/11, light diffraction becomes significant. The Airy disk created by diffraction has a diameter of approximately:
d = 2.44 × λ × N
Where λ is wavelength (≈550nm for green light) and N is the f-number. At f/16, this gives about 21μm of blur – larger than many pixel sizes!
Real Lens Aberrations
Real lenses aren't perfect. They suffer from spherical aberration, coma, and astigmatism that can reduce sharpness even within the calculated depth of field. High-quality M12 lenses optimized for machine vision minimize these aberrations through multi-element designs.
Pro Tips for Maximizing Usable Depth of Field
- Start with the right sensor: Larger pixels are more forgiving. A 3.45μm pixel sensor needs less precise focus than a 1.4μm pixel sensor.
- Consider pixel binning: 2×2 binning doubles your effective pixel size, roughly doubling depth of field at the cost of resolution.
- Use the sweet spot: Most lenses perform best between f/2.8 and f/5.6. Too wide and aberrations dominate; too narrow and diffraction limits sharpness.
- Add light, not aperture: Instead of stopping down to f/11 for more DoF, add LED illumination and stay at f/5.6 for better overall sharpness.
- Test with your actual targets: Calculate first, but always verify with real-world testing using your specific patterns and contrast levels.
How Does Sensor Technology Affect Depth of Field?
Monochrome vs. Color Sensors
Monochrome sensors deliver approximately 40% better effective resolution because every pixel captures full luminance information. In Bayer color sensors, each pixel only captures one color channel, requiring interpolation that can soften edges.
| Sensor Type | Resolution Efficiency | Edge Sharpness | Best For |
|---|---|---|---|
| Monochrome | 100% | Excellent | Measurement, inspection, SLAM |
| Bayer RGB | ~50%-70% | Good (interpolated) | Object classification, sorting |
| RGB-IR | ~50% | Fair | Day/night surveillance |
Global vs. Rolling Shutter
While not directly affecting depth of field calculations, global shutter sensors are crucial for moving robotics applications. Rolling shutter can create distortion that appears similar to focus problems but is actually temporal skew. Global shutter sensors have 4 transistors which results in larger pixel size that will impact field of view and Depth of field.
What About Autofocus vs. Fixed Focus?
Fixed Focus Advantages for Robotics
Most industrial and robotics applications benefit from fixed-focus systems set to the hyperfocal distance. This maximizes the usable depth of field for a given aperture.
Use this calculator to find your optimal fixed focus position, then lock it mechanically or with thread-locking compound. For M12 mount lenses, this is typically done by rotating the lens to the correct position and securing it.
Frequently Asked Questions About Depth of Field
How does working distance affect depth of field?
Depth of field increases with the square of distance. At close range (macro), DoF might be just millimeters. At 10 meters, the same camera setup might have several meters of DoF. This is why close-up inspection requires very precise focus while surveillance cameras can use fixed focus for everything beyond a few meters.
Can I use software to extend depth of field?
Yes, through focus stacking (combining multiple images at different focus distances) or computational methods like cubic deconvolution. However, these require either multiple captures (slow) or significant processing power. For real-time robotics, optical DoF is usually preferable. Some newer sensors include dual-pixel autofocus that can create depth maps to assist with synthetic DoF.
What's the relationship between DoF and lens MTF?
Modulation Transfer Function (MTF) measures contrast at different spatial frequencies. A lens might be "in focus" by DoF calculations but have poor MTF, resulting in low contrast. High-quality lenses maintain good MTF throughout their specified DoF range. Always check MTF charts when selecting lenses for measurement applications where edge sharpness is critical.
How do telecentric lenses affect depth of field?
Telecentric lenses maintain constant magnification throughout their depth of field, making objects appear the same size regardless of distance. While they don't increase DoF, they make the usable DoF more valuable for measurement since dimensional accuracy is preserved. They typically have smaller apertures (f/8-f/11) and thus naturally deeper DoF.
Should I prioritize sensor resolution or depth of field?
This depends on your application. For measurement and inspection, prioritize resolution with controlled focus. For object detection and tracking, prioritize DoF for robustness. Remember: you can always downsample a high-resolution image, but you can't recover details lost to blur. Many successful robotics systems use moderate 2-5MP sensors with good DoF rather than pushing for maximum resolution.
What about depth of field for infrared imaging?
IR wavelengths (750-1000nm) are longer than visible light, resulting in larger diffraction limits and slightly different focus positions. Many lenses aren't corrected for IR, causing focus shift. For day/night applications, look for lenses specifically designed with IR correction, or plan for separate focus positions for visible and IR illumination.