Can I get Infrared image without facula using D435

[Jiyun-Cui]

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Required Info
Camera Model	{ D400 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (10)
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC
SDK Version	{ legacy / 2. }

Issue Description

<Describe your issue / question / feature request / etc..>

[dorodnic]

Hi @Jiyun-Cui Could you please clarify what you mean? Are you referring to the laser pattern?

[Jiyun-Cui]

Sorry for my poor English. We I used F200, the acquired infrared images have no spots, but the infrared images captured by D435 have regular lattice. I understand that F200 uses TOF, and D435 uses structured light, I doubt that how I can get an infrared image without lattices using D435. My snippet for geting infrared frame using D435 bellow:

rs2::config cfg;
rs2::pipeline pipe;
cfg.enable_stream(RS2_STREAM_INFRARED, width, height, RS2_FORMAT_Y8, 30);
pipe.start(cfg);
rs2::frameset frames = pipe.wait_for_frames();
rs2::frame ir_frame = frames.get_infrared_frame();

[dorodnic]

Hi @Jiyun-Cui The simplest available way to accomplish this with the D400 series is to disable the emitter (controlling the emitter). This can however reduce the output depth quality, and is really only useful for outdoor sunlit scene. We also have a pull-request for something similar coming up, but as far as I understand it requires a firmware change, so we are still waiting for it.

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment] Hi @Jiyun-Cui,

Still need any help? Note: F200 uses Code-of-Light (structured light). D435 uses Stereo camera with IR projector to help depth if no good texture in your test scene.

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment] Hi @Jiyun-Cui,

So far, we have the new firmware 5.9.11 and the new preset "D415_RemoveIR.json" in below link for D415 to remove the projector-generated IR pattern from left imager. Need to further check internal plan for D435. https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets#preset-table

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment] Hi @Jiyun-Cui,

As you may know, D435 uses monochrome sensors for left and right camera, different from D415. Is disabling D435 IR emitter as a quick fix helpful for you?

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment] Hi @Jiyun-Cui,

Still need any support for this topic?