"wavy" reconstruction error on flat surfaces
Dear support,
When looking on acquired images on the D400 camera, vertical flat surfaces (walls) appear as wavy shapes (sine-like curves). Could you help me to solve some questions, please?
1. I have no clues on what can be causing this and how to fix it (calibration or maybe some extra parameter tuning).
2. Is there a way to disable the effect of IR sensor on the reconstruction and to re-render a scene? how to do this (which software, procedure, etc)?
3. Have you been reported of any other similar issue? Could this be related to SW fault (e.g. firmaware update or so)?
Thank you very much for your help and support in advance.
BR,
Aldo
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Hi Aldodiaz64
1.Wavy point clouds are a known phenomenon but the effect can be reduced. The links below will hopefully be helpful to you.
https://github.com/IntelRealSense/librealsense/issues/4286
https://github.com/IntelRealSense/librealsense/issues/1375
https://github.com/IntelRealSense/librealsense/issues/4553
The quickest way to make a positive difference can be to move the camera closer to the observed scene if possible, as waviness can reduce when the camera is closer to an object / surface and increase when further away. Calibration and tuning can be helpful in reducing the effect too, as described in the first of the set of 3 links above.
2. The D415 camera model has a configuration preset that can remove the IR projector pattern from an image. This feature is also being developed for the new D455 model at the time of writing this and will be made available in an upcoming camera firmware driver version. The D415 pattern removal configuration file Left Imager Color w/o IR Pattern can be found at the link below:
https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets#preset-table
There is also the ability to turn the IR Emitter off completely to make the dot pattern disappear (though this may result in a darker image) or to reduce the visibility of the IR dot pattern on the IR image by reducing the value of the Laser Power option.
3. is answered by reply 1.
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