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Camera depth capture jitter problem

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U3576598

Whenever I move the D435IF camera around, wave at it at a close distance, the distortion gets large  and often made the video capture screen and my program lags/jitters. I understands the holes/black spots in the depth represent depth data that did not meet the confidence metric.

But I'd like to know why this would make my program lags.

And what are some settings I can set to my program to smoothen the capture? 

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7 comments

Date Votes
  • MartyG

    A case at the link below regarding slowdown when moving the camera may be a helpful reference.

    https://github.com/IntelRealSense/librealsense/issues/4958

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  • U3576598

    Thank you for the quick response. I have read the post but this person seems to relate this issue with filtering in processing block too much. However, my program with only depth frame doesn't involve any filtering.   

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  • MartyG

    If the camera is moved close to an object then the depth image will start to break up below a certain distance from the object, as RealSense cameras have a minimum depth sensing distance.   

     

    If the image is jittering then applying a post-processing filter called a Temporal Filter and setting its Smooth Alpha setting to '0.1' can improve the stability of the depth values.

     

    An Advanced Mode setting called Second Peak Threshold can also be reduced from its default value of '325' down to '0' so that the depth sensing is less strict regarding which depth values it excludes because of lack of confidence in their accuracy.

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  • U3576598

    Where can I find the API for setting the second peak threshold for my code? Since I couldn't find them in the API doc

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  • MartyG

    It can be set in a custom json camera configuration file (also known as a Visual Preset) by configuring the parameter below:

    param-secondpeakdelta

    https://github.com/IntelRealSense/librealsense/issues/4993#issuecomment-550184812

     

    The link below provides information about configuring Second Peak Threshold with Python code instead of using a json file.

    https://github.com/IntelRealSense/librealsense/issues/10224#issuecomment-1060412603

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  • U3576598

    So what you mean is I can setup everything in the realsense viewer, download the json file of that setting, and load it into my program and all the settings will appear in my program? 

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  • MartyG

    Yes.  Not every setting in the Viewer is exported to a json file, but param-secondpeakdelta should be included in the file by the export.  That file can then be loaded into the program and the settings in the file will be applied.

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