Hole in depth image of a D435
Hello, again.
I am attaching an image from a D435 that shows both an RGB and z-clipped (0.25m-3.0m) depth image. The D435 is mounted about 6" off the deck and tilted about 16 degrees down toward the deck. It is also flipped over but the images have been righted. The depth image is filtered per Intel's recommendations for the D435. I believe the camera is properly calibrated.
Full disclosure, two D435 are mounted one atop the other, lower pointing upward and un-flipped, this one upper and pointing downward and flipped. They are slightly recessed in a pocket with slanted sides and mounted on a mobile robot.
The hole in the middle of the depth image puzzles me. I don't see a reason for it, especially since the robot is on a carpeted floor. This is not unexpected on a linoleum floor in an overhead lighting situation, but not on carpet.
Any ideas?
Thank you,
-Kris Gunnarsson
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When cameras are mounted vertically in close proximity to one another, they are typically pointing straight ahead. By crossing the laser beams over by tilting the upper camera down and the lower camera up, I wonder if you are creating a concentrated point of laser light that results in the camera being unable to read the depth information at those coordinates.
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