Misalignment in depth and color image with D435
We are using D435 camera to capture an object moving at 2 meter/sec . Here the color and corresponding depth image has a misalignment of around 12 cm .
Is this expected with this camera model ?
Is it due to rolling shutter or any other hardware limitation?
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Hi JIshnu S At that motion speed it would likely be a rolling shutter issue. Lag between depth and RGB caused by the D435 RGB sensor's slower rolling shutter can be compensated for by using 2x the FPS for the RGB sensor (e.g setting depth to 30 FPS and RGB to 60).
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Heyy MartyX Grover , I have set a very low exposure for color sensor , ie 10 micro seconds . Isnt 12 cm (60 ms in time) of misalignment too high when exposure is a very low value like this? Rolling shutter effect should be very less in this case right?
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Using manual exposure values can be tricky, as setting the exposure in a certain range could cause a drag on the FPS speed so that FPS is lower than the setting that you defined.
For manual exposure of the color sensor, if it has a rolling shutter like the D435 and there is lag between depth and color that is causing the color image to not be able to sync with the depth image then you can try an RGB exposure value of 78 and the D435 model's minimum supported FPS of 6. This combination should reduce color image lag when using manual exposure on a rolling-shutter RGB sensor.
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Hi JIshnu S Do you require further assistance with this case, please? Thanks!
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