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depth issue with D435

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3 comments

  • MartyG

    Hi Mhmh6086  Would it be possible to provide an image here, with an RGB image of the scene too to show the light source?

    If the surface that the light is shining on is reflective then this may make that area more difficult for the camera to analyse for depth detail.

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  • Mhmh6086

    thanks for the reply here i have attached the image

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  • MartyG

    There is definitely a strong reflection there from a nearby light source that is reacting to a glossy surface on the book.  

    I can tell where the book should be on the depth image from the dark spots in the carpet at the edge of the image and their representation in the depth image.  Even if one page was unreadable for depth due to the light reflection, it looks as though the other page should be able to have depth detected, unless the glossy surface is in itself enough to make the pages unreadable.

    The floor looks like what could be considered to be a correct depth image, as its color grading shifts from blue (nearest to camera) to red (furthest) as the observed areas become further from the camera.  That makes me think that the camera is okay and it is the book surface that is causing the issue.

    I would recommend testing with a similarly sized non-glossy object in the same location to verify whether it is the book that is the source of the image disruption.

    If you anticipate that you will be using the camera frequently to observe glossy / reflective surfaces then the glare on the image can be significantly reduced by applying a physical optical filter called a Linear Polarizer over the top of the camera lens on the outside of the camera.  Section 4.4 of Intel's paper about optical filters discusses the anti-glare properties of these filters.

    https://dev.intelrealsense.com/docs/optical-filters-for-intel-realsense-depth-cameras-d400#section-4-the-use-of-optical-filters 

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