Realsense 3D

높이/해상도 셋팅 참고
: https://github.com/IntelRealSense/librealsense/issues/2723


At longer range, the depth accuracy will drift noticeably after 3 to 4 meters away from the camera. This is called RMS Error. It impacts the D435 model more than the D415 model due to the D435's hardware design. The link below has a chart that shows RMS error over distance for D415 and D435.
https://communities.intel.com/message/559606#559606


At very close range, the camera may also have less accuracy than the earlier SR300 camera model. This is because of how the 400 Series is configured to be able to 'see' up to 65 meters. It is possible to adjust the depth units of the camera to more closely match the SR300.
The link below explains this:
https://communities.intel.com/message/551089#551089


You would need to reduce the minimum sensing distance of the camera (MinZ). This can be done using the Disparity Shift setting. You can reduce minimum distance (how close the camera can get to an object) at the cost of reducing the maximum distance (MaxZ) that the camera can see.
For example, according to Intel's camera tuning guide, a Disparity Shift of '0' gives a MinZ of 45 cm and an infinite MaxZ, whilst setting the shift to '50' gives a MinZ of 30 cm and a MaxZ of 110 cm

Advaced Controls --> Depth Table --> Disparity shift

Using a D435 as well. With a distance of 20cm, I found that I need to apply "50.0" to the Disparity Shift Value for optimal results


I personally used C++ with Realsense, not python. But here is what I found.
python-rs400-advanced-mode-example.py
The area you should be interested in:

device = rs.context().query_devices()[0]
advnc_mode = rs.rs400_advanced_mode(device)
depth_table_control_group = advnc_mode.get_depth_table()
depth_table_control_group.disparityShift = 128
advnc_mode.set_depth_table(depth_table_control_group)

Source


[Realsense Customer Engineering Team Comment]
@laolaolulu
'another way to have smaller minZ is to reduce the depth resolution



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배경 지우기 ( 실시간 rs-align )
https://support.intelrealsense.com/hc/en-us/community/posts/360033639413-Background-removal-with-OBS-and-the-D435

https://github.com/IntelRealSense/librealsense/tree/master/examples/align-advanced
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How is it different from rs-align example?
rs-align is doing real-time background removal using simple masking and thresholding. This results in a fast but not a very clean results. This demo is performing pixel-level optimization to cut the foreground in the 2D image. The depth data serves only as an initial estimate of what is near and what is far.
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배경 지우기 ( GrabCut )
https://dev.intelrealsense.com/docs/rs-grabcuts

OpenCV 기본
https://github.com/IntelRealSense/librealsense/blob/master/doc/stepbystep/getting_started_with_openCV.md

개발자 사이트
https://dev.intelrealsense.com/docs/sdk-knowledge-base?_ga=2.79876628.2095552759.1571035529-351848016.1560499186