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Depth image quality by D435i camera



  • MartyG

    Hi Jooseuk  LED lighting is a good choice for observing plants with a RealSense camera.  


    Thin objects such as stems may be difficult for the camera's depth sensing to pick up.  The link below demonstrates how changing the D435's depth unit scale value from its default of '0.001' to the smaller value of '0.0001' may help a thin object (a toothpick, in that particular case) to be rendered on the depth image.


    Vegetation leaves are reflective to light, so this may be making it more difficult for the camera to read the surface of the leaves.  Adding a physical filter product called a thin film linear polarizer over the lenses on the front of the camera can help to greatly dampen glare from reflections.  Because most polarization filters will work so long as they are linear, they can be purchased inexpensively by searching stores such as Amazon for the term linear polarizing filter sheet

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  • Jooseuk

    Hi MartyG, thank you for answering.
    I'm using Python with the following code to get depth images:

    'import pyrealsense2 as rs
    import numpy as np
    import cv2
    import time
    first_frame = True
    # RealSense pipeline
    pipeline = rs.pipeline()
    config = rs.config()
    # stream
    config.enable_stream(, 1280, 720, rs.format.z16, 30)
    config.enable_stream(, 1280, 720, rs.format.bgr8, 30)
    Can I change a value to '0.0001' in Python?

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  • MartyG

    You can change the depth scale value in Python with the instruction rs.option.depth_units

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