How to calibrate D435 RealSense depth camera to achieve 1 mm resolution
I have a D435 RealSense depth camera that I would like to use to achieve 1 mm resolution for objects within 1 meters. I have tried to use the different presets (default, hand, high density, etc.) but the data still looks poor. I have also tried adjusting the depth parameters using the RealSense Viewer GUI but the data hardly improves.
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Thanks very much for the RGB image, it is helpful.
The camera will have difficulty capturing the depth of surfaces that are colored black or dark grey. This is because it is a general physics principle (not specific to RealSense) that black or dark grey absorbs light and so makes it more difficult for depth cameras to read depth information from such surfaces. The darker the color shade, the more light that is absorbed and so the less depth detail that the camera can obtain.
A scene that is majority dark grey or black will usually return al depth image that has little detail on it or has inaccurate depth values. In this particular case though it likely helps that the dark surfaces in this scene have grain and texture (like the gravel and the rough wood surfaces), meaning that you should get at least some depth detail as textured surfaces provide more depth information for the camera.
In such a scene, if you have not tried it already then the depth image may improve if you set the Laser Power option to its maximum value of '360' (it is '156' by default). This is because maximizing Laser Power can make the invisible dot pattern projected by the camera onto surfaces easier for the camera to see by strengthening the visibility of the dots and so improve analysis of those surfaces for depth information.
Casting an additional external light source onto the scene to illuminate the surfaces more strongly can also help to bring out depth detail from black / dark grey surfaces.
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