MartyG-RealSense
commented
2 years ago Hi @Cpeck71 Would it be possible to provide an RGB image of the scene that is being observed, please? This will help to identify factors that may be negatively affecting the measurement.
For example, a difference between the L515 and the 400 Series models is that the L515 will see through transparent surfaces such as a plastic water bottle and pick up the depth data in the background behind the bottle instead of the bottle itself.
The L515 is also suited to use indoors under controlled lighting conditions and can experience interference if infrared light sources such as sunlight are present.
You are correct that the L515 does not have a calibration tool like the 400 Series' Dynamic Calibration and On-Chip tools.
Using the Short Range preset can help to improve the image in some situations, as it reduces the Receiver Gain and Laser Power values.
L515 depth measurement will work best with rough surfaces. If the surface that is being observed is highly reflective then pointing the camera straight ahead or at a shallow tilt angle may make the surface difficult to read depth detail from. With such surfaces, placing the camera above the observed surface and tilting the camera at a large 'angle of incidence' may help.
Cpeck71
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Issue Description
Howdy Realsense team, I've started to notice a discrepancy of the depth data in the form of a bias. I ran the depth-quality tool and with a known distance of ~1.93m the depth output was ~1.81m. I've noticed about the same value bias in other experiments, for example a test that had real-world data (from a motion tracking system) providing a distance of ~1.3m and the L515 was reading on average 1.11-1.15m.
My efforts so far have been to simply subtract out the bias from my measurements to help refine them, but I was wondering if y'all could help determine a source of this bias or something I can do to calibrate the lidar? I've done some searches in the github issues and believe I've read that there's not a specific calibration tool for the L515, but I also don't think I've found another issue mentioning a bias in the Lidar's measurement.
Thanks so much for the help!