Handling distance closer than D415 MinZ
Camera: D415
Depth Resolution: 640 x 360
Color resolution : 1280 x 720
OS : Linux
Language: C++
Hello,
We have a requirement to identify the condition when the camera to object distance goes less than the minZ range (24 cm for the depth resolution 640 x 360 as per the spec) using SDK.
I went through https://github.com/IntelRealSense/librealsense/issues/2129,which seems to suggest that we can't handle this in D415. So, is this a technology limitation in D415?
Else, please suggest any solution to handle it through SDK.
Our range is 20cm to 2 meter.
Thanks in advance.
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Hi Rakesh Bhat It sounds as though you want a way to detect when a measured depth is lower than the D415's minimum depth sensing distance of 0.3 meters. Is that correct please? If so then I can understand the dilemma that you face, as you could not obtain depth measurements from depth coordinates that are not rendered on the depth image as it breaks up below the minimum distance.
One way around this may be to program a check that looks for whether an image currently has more than 50% of pixels with empty depth (indicating that something has gone wrong with the image). This should pick up the depth image break-up that is characteristic of when the camera goes below minimum distance.
Alternatively, you could use the Disparity Shift option mentioned in the link that you provided to reduce the D415's minimum depth sensing distance from its default 0.3 meters to a lower value such as 0.2 meters (20 cm). A trade-off of using this function is that as minimum distance (MinZ) decreases, maximum observable depth distance (MaxZ) also decreases at the same time. This may not be a problem if you are performing close-range depth measurement though.
Or you could switch to the D435 or D435i model, which has a minimum depth distance of only 0.1 meters, making it excellent for close-range measurement.
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