How to set a max distance for D435?

[NWill9]

I would like to set a max depth distance for the D435, but it seems to be unsupported when I check the sensor options:

 33: Min Distance is not supported

 34: Max Distance is not supported

While I could threshold the resulting depth inside my application, the main issue is that I would like to use the depth frame to generate a point cloud using rs2::pointcloud::calculate.

The raw data from the depth frame is immutable, so modifying the raw data in the depth frame isn't really an option.

Any other options that are available to me? I am trying to capture an object and generate a point in the near field.

[MartyG · Accepted solution]

I have never heard of the D435 being unable to set a minimum distance (MinZ) or maximum distance (MaxZ).

It is possible to set a 'clamp' for the minimum and maximum distance.

Intel support team member Eliza describes methods for setting the depth clamp in the link below.

https://forums.intel.com/s/question/0D70P0000068jcwSAA

A clamp can also be set with menus inside the RealSense Viewer software, as described in the link below (though this may not be useful to you if you need to do the clamping within your own application):

https://github.com/IntelRealSense/librealsense/issues/1680#issuecomment-390591159

An alternative option is to use the Disparity Shift option to change the MinZ and MaxZ. As the Disparity Shift value is increased, the MaxZ maximum distance decreases. Intel's excellent illustrated camera tuning guide has a section that explains the concept.

https://realsense.intel.com/wp-content/uploads/sites/63/BKM-For-Tuning-D435-and-D415-Cameras-Webinar_Rev3.pdf