Inconsistent depth estimation on same surface across different D435 cameras

[DLjub]

Hello,

as stated in the question title, I am having trouble with inconsistent depth estimation results on the same surface with D435 cameras.

I have several D435 cameras available and on a few of them, the depth of a wall in front of it can not be estimated. The wall is made from sheet metal and I am aware that is one of the worst-case scenarios when it comes to stereo depth estimation.

However, on one camera I get excellent results and I can not figure out why. I am using v20 of librealsense on Ubuntu 16.04. All the cameras have 5.10.13.0 firmware version and high resolution, high accuracy preset.

In the images attached, you can see how two cameras behave on the same surface. Images were taken 1 minute apart, so that environment conditions (lighting etc.) are the same.

What should I do? What else can I check to find out what is different and to possibly obtain excellent depth estimation on other cameras as well?

Thank You in advance!

[MartyG · Accepted solution]

I would recommend performing a calibration of each of the cameras with lesser results to see if that improves their image. You can obtain the Dynamic Calibrator tool for the 400 Series cameras from the link below.

https://downloadcenter.intel.com/download/28517/Intel-RealSense-D400-Series-Calibration-Tools-and-API

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Please also note that the RealSense forum has moved to a new site, so future questions should be posted there in order for Intel support team members to respond. Thanks!

https://support.intelrealsense.com/hc/en-us/community/topics

[DLjub]

Thank you MartyG!

I will definitely try it out and post another question on the new forum if it does not help me.

[DLjub]

Thank You MartyG, dynamic calibration helped!