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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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Poor Depth Output with D435. Defective Device? #2944

Closed kylehounslow closed 5 years ago

kylehounslow commented 5 years ago
Required Info
Camera Model D435
Firmware Version 5.10.6.0
Operating System & Version (Ubuntu 16.04 LTS)
Kernel Version (Linux Only) 4.15.0-42-generic
Platform PC
SDK Version 2.17.0
Language C/C++/Python
Segment VR/AR

Issue Description

I have purchased two D435 cameras and one has significantly better depth output. I have followed the whitepapers for tuning the parameters still not even close to getting comparable results.
Is my device defective? Anyone seeing same issues?

Below is realsense-viewer output from each D435 with Default settings:

D435 with poor depth old-camera

D435 good depth new-camera

Any help is appreciated, thanks.

dorodnic commented 5 years ago

Hi @kylehounslow You wrote 5.10.6.0 under firmware, could you please confirm this is correct for both devices?

kylehounslow commented 5 years ago

Thanks for the reply @dorodnic. Yes they are both 5.10.6.0 firmware.

kylehounslow commented 5 years ago

Update: I tried flashing very latest firmware 5.10.6.13 to both devices and still the same result.

dorodnic commented 5 years ago

IMHO, there might be something wrong with the infrared projector. Such defect should not have passed the production line tests, but perhaps the projector or the lens got damaged after manufacture.

Did you try adjusting laser power? What are the compared IR images you get from the two devices?

Perhaps @RealSense-Customer-Engineering could also comment, as they have more experience with the hardware aspect.

Regardless, I believe you have the option to return / replace the device (exact details depend on the re-seller)

RealSense-Customer-Engineering commented 5 years ago

[Realsense Customer Engineering Team Comment] Hi @kylehounslow,

Have you tried to re-calibrate this unit by OEM/Dynamic Calibration tool or calledIntel.Realsense.CustomRW -g to restore it back to golden factory standard? https://downloadcenter.intel.com/download/27955/Intel-RealSense-D400-Series-Calibration-Tools-and-API?v=t

kylehounslow commented 5 years ago

@RealSense-Customer-Engineering @dorodnic Great news: recalibration of the device using Intel.Realsense.DynamicCalibrator worked and the depth quality is virtually the same for both cameras.

D435 with previously poor depth from above, After recalibration: screenshot from 2018-12-31 10-35-39

Compared with D435 with previously good depth from above: screenshot from 2018-12-31 10-36-17

Is there known causes for the D435 cameras to become "un-calibrated"? I'd like to avoid having to do this again if possible.

RealSense-Customer-Engineering commented 5 years ago

[Realsense Customer Engineering Team Comment] I am glad that the recalibration works. All the units were pre-calibrated in the factory before they were shipped out. However, depending on the local shipping and handling method and other various reasons, sometimes such as this case, re-calibration is needed. I will close this ticket for now. Thank you.