View my account

D455 Max Depth Range 20m or 5m?

Comments

10 comments

  • MartyG

    Hi Mau. If you are testing the camera with the RealSense Viewer program, please go to its options side-panel, expand open the Stereo Module options and then expand open its Post-Processing sub-section.

    In the list of post-processing filters in that section, look for one called Threshold Filter.  This filter, when enabled, limits the camera's maximum observable depth range to 4 meters by default.

    To remove this limit, turn off the filter if it has a blue box beside it (indicating an On state) by left-clicking on the blue box to toggle it to black (Off).

    Alternatively, you can expand open the Threshold filter and increase its Maximum Distance slider from '4' to '20'.

    0
    Comment actions Permalink
  • Patnisrj22

    In Threshold Filter -> Max distance is 16 meters in D455 camera. I can't set it to 20 even by writing manually 20. it is saying "20 is out of bounds [0, 16]"

    0
    Comment actions Permalink
  • MartyG

    Hi Patnisrj22  This is a limitation of the RealSense Viewer tool's Threshhold Filter interface, not the D455 specifically.  The maximum settable distance of the filter is 16 meters no matter which 400 Series camera model is used.

     

    If you left-click on the blue icon beside the filter to turn it to red (Off) then the filter will be disabled and the full observable depth range of that particular camera model will be rendered on the depth image.

    0
    Comment actions Permalink
  • Patnisrj22

    Hi MartyG . In both of my Realsense D435 and D455 cameras, depth and the rgb channels are not aligned exactly. Do we need to calibrate the rgb and depth before recording the .bag files ??

    Please tell how to make them in such a way that pixel (i,j) in depth frame will corresponds to pixel (i,j) in color frame ?

    0
    Comment actions Permalink
  • MartyG

    If you are using the RealSense Viewer tool then depth and color are not aligned in its '2D' mode. 

     

    Also, aligned data cannot be saved to a bag file.  Instead, individual streams (such as depth and color) are read from the bag file and then alignment can be applied to them in real-time using programming code.

     

    In the Viewer's '3D' mode, you can though map RGB onto depth to create a textured pointcloud by first enabling the depth stream and then enabling the RGB stream.  You can then export the pointcloud to a '.ply' format pointcloud data file.

     

    I recommend looking at the RealSense C++ example program rs-align for an example of depth to color and color to depth alignment.

    https://github.com/IntelRealSense/librealsense/tree/master/examples/align

     

    If you are using Python then the example program align-depth2color.py performs a similar function.

    https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/align-depth2color.py

    0
    Comment actions Permalink
  • Patnisrj22

    Thank you so much MartyG for your detailed answer!!

    0
    Comment actions Permalink
  • Stevew

    Mau
    I'm very interested in your question.

    Specifically this comment: 
    "I have not been able to get the D455 to "see" beyond 4-5 meters."

    Was the "Threshold Limit" the cause of your issue?

    0
    Comment actions Permalink
  • MartyG

    Hi Stevew  The threshold filter's maximum distance is set to 4 (meters) by default, so when it is enabled a D455 will only be able to render detail up to 4 meters away on its depth image unless the maximum value is increased or the filter is disabled so that the camera can depth sense as far as it is able to. 

     

    In the RealSense Viewer tool the threshold filter is usually enabled by default and needs to be adjusted or disabled to take advantage of the D455's full depth range..

    0
    Comment actions Permalink
  • Patnisrj22

    Hi MartyG, I want to ask one thing that, What is the max depth range of Realsense D455, Is it 20 meters?

    In Tech Spechs it is mentioned that the "Ideal Range" is .6m to 6m.

    0
    Comment actions Permalink
  • MartyG

    Whilst you may be able to obtain depth data up to 20 meters away, it may not have a high accuracy.  Depth error is around zero at the camera lens and increases linearly as distance from the camera increases.  This phenomenon is called RMS Error.  The D455's depth accuracy is optimal at ranges between 0.6 and 6 meters, and then accuracy progressively reduces beyond that ideal distance range.

    0
    Comment actions Permalink

Please sign in to leave a comment.