How to filter the (flying pixel) noise of D435i?

• MartyG

  • February 17, 2021 08:00

  Hi Getomboy  If you have some depth data that you want to exclude from the image (such as a surface that is close to the camera lenses, like your shelf edge) then you can apply a threshold filter.  This enables you to set a minimum and maximum depth distance that excludes from the depth image any data that is outside of this defined range.  So if you set a minimum distance, for example, of 0.5 meters then the depth image should ignore the close-range detail produced by the shelf.

  The link below provides information for applying a threshold filter in C++, C# and Python.

  https://github.com/IntelRealSense/librealsense/issues/5964#issuecomment-594372943

   

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• Getomboy

  • March 05, 2021 04:29

  Hi MartyG thanks for your reply.

  I still having trouble on filtering the flying pixel like the picture below,

  

   

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• MartyG

  • March 05, 2021 11:42

  As well as increasing the minimum distance as suggested above, Intel's depth compression by colorization white-paper document suggests reducing the spray produced by flying pixels by applying a post-processing filter called a Median Filter.

  https://dev.intelrealsense.com/docs/depth-image-compression-by-colorization-for-intel-realsense-depth-cameras#section-3-3-flying-pixels

  The link below states that the Temporal Filter type of post-processing filter can provide 'smart median filtering' functionality.

  https://github.com/IntelRealSense/librealsense/issues/3076#issuecomment-454785953

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