To get better Depth for Exploration of UAV
Conclusion : Use Presets!!! unless under static, fixed scene situation.
Also use Post-Processing!!!
- Almost of the contents from the guides are trying to tune the lots of parameters based on the scene-dependent situations.
- Referred from here and here2
- Official Tuning Guides Read through followings
● Result






● Tuning depth cameras for best performance
- 848x480 resolution is recommended for D435 at 30fps.
- Increasing the gain tends to introduce electronic noise, Keep gain as low as possible (preferably 16).
● D400 Series Visual Presets
- The “High Accuracy” preset will impose stricter criteria, and will only provide those depth values that are generated with very high confidence.
- This will give a less dense depth map in general but is very good for autonomous robots where false depth are much worse than no depth.
Download the presets from here- Save the presets in
realsense-viewer
within SDK. Set the json file fromcustom
ordefault
toHighAccuracy
and set other parameters you want, and the export that .json file. - Place the preset .json file in the .launch
<arg name="json_file_path" value="file_directory_and_name.json"/>
● Use Post-Processing filters with ROS package
- Post-processings can be set using
args
in thelaunch
file. filters can be checked here- Supported filters: colorizer, disparity, spatial, temporal, hole_filling, decimation, pointcloud
- Note that decimation filter makes depth image downsampled, which results in changed
focal length
andprincipal points
of intrinsic calibration.
<!--arg name="filters" value="pointcloud,disparity,spatial,temporal,decimation"/-->
<arg name="filters" value="pointcloud,disparity,spatial,temporal"/>
● Filter and .json file with emitter off
- Download emitter off.json
- infra camera at 30 fps, 640x480
- Download Mid resolution with High accuracy and emitter off.json
- infra camera at 30 fps, 640x480
- or simply copy-paste below:
{
"aux-param-autoexposure-setpoint": "1536",
"aux-param-colorcorrection1": "0.298828",
"aux-param-colorcorrection10": "-0",
"aux-param-colorcorrection11": "-0",
"aux-param-colorcorrection12": "-0",
"aux-param-colorcorrection2": "0.293945",
"aux-param-colorcorrection3": "0.293945",
"aux-param-colorcorrection4": "0.114258",
"aux-param-colorcorrection5": "-0",
"aux-param-colorcorrection6": "-0",
"aux-param-colorcorrection7": "-0",
"aux-param-colorcorrection8": "-0",
"aux-param-colorcorrection9": "-0",
"aux-param-depthclampmax": "65536",
"aux-param-depthclampmin": "0",
"aux-param-disparityshift": "0",
"controls-autoexposure-auto": "True",
"controls-autoexposure-manual": "8500",
"controls-color-autoexposure-auto": "True",
"controls-color-autoexposure-manual": "166",
"controls-color-backlight-compensation": "0",
"controls-color-brightness": "0",
"controls-color-contrast": "50",
"controls-color-gain": "64",
"controls-color-gamma": "300",
"controls-color-hue": "0",
"controls-color-power-line-frequency": "3",
"controls-color-saturation": "64",
"controls-color-sharpness": "50",
"controls-color-white-balance-auto": "True",
"controls-color-white-balance-manual": "4600",
"controls-depth-gain": "16",
"controls-laserpower": "150",
"controls-laserstate": "off",
"ignoreSAD": "0",
"param-amplitude-factor": "0",
"param-autoexposure-setpoint": "1536",
"param-censusenablereg-udiameter": "6",
"param-censusenablereg-vdiameter": "7",
"param-censususize": "6",
"param-censusvsize": "7",
"param-depthclampmax": "65536",
"param-depthclampmin": "0",
"param-depthunits": "1000",
"param-disableraucolor": "0",
"param-disablesadcolor": "0",
"param-disablesadnormalize": "0",
"param-disablesloleftcolor": "0",
"param-disableslorightcolor": "1",
"param-disparitymode": "0",
"param-disparityshift": "0",
"param-lambdaad": "751",
"param-lambdacensus": "6",
"param-leftrightthreshold": "10",
"param-maxscorethreshb": "2893",
"param-medianthreshold": "796",
"param-minscorethresha": "4",
"param-neighborthresh": "108",
"param-raumine": "6",
"param-rauminn": "3",
"param-rauminnssum": "7",
"param-raumins": "2",
"param-rauminw": "2",
"param-rauminwesum": "12",
"param-regioncolorthresholdb": "0.785714",
"param-regioncolorthresholdg": "0.565558",
"param-regioncolorthresholdr": "0.985323",
"param-regionshrinku": "3",
"param-regionshrinkv": "0",
"param-robbinsmonrodecrement": "25",
"param-robbinsmonroincrement": "2",
"param-rsmdiffthreshold": "1.65625",
"param-rsmrauslodiffthreshold": "0.71875",
"param-rsmremovethreshold": "0.809524",
"param-scanlineedgetaub": "13",
"param-scanlineedgetaug": "15",
"param-scanlineedgetaur": "30",
"param-scanlinep1": "155",
"param-scanlinep1onediscon": "160",
"param-scanlinep1twodiscon": "59",
"param-scanlinep2": "190",
"param-scanlinep2onediscon": "507",
"param-scanlinep2twodiscon": "493",
"param-secondpeakdelta": "647",
"param-texturecountthresh": "0",
"param-texturedifferencethresh": "1722",
"param-usersm": "1",
"param-zunits": "1000",
"stream-depth-format": "Z16",
"stream-fps": "30",
"stream-height": "480",
"stream-ir-format": "R8L8",
"stream-width": "640"
}