D455 Max Depth Range 20m or 5m?
Hello, I have been testing the D455 for max range hoping I will be able to measure objects 7meters away. However, I have not been able to do that as the depth camera seems to only see until 4-5 meters away.
My goal is to measure an object which can be between 300mm to 700mm and is located 7 meters away from the camera.
How is that the D455 claims a max range of 20m, but then the recommended range is down to 6m?
Also, since these are active stereo cameras do their range depends on the power of the IR projector? It seems like the D455 has the same exact hardware as the D435, meaning the same IR projector.
I have performed the on-chip calibration and it is interesting that while the calibration is happening the camera seems to see further but then when applying the new settings, it still does not see past 4-5meters.
In any case, I have not been able to get the D455 to "see" beyond 4-5 meters. Has anyone experienced better results?
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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'.
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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.
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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 ?
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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.
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Thank you so much MartyG for your detailed answer!!
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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? -
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..
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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.
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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.
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