Outdoor performance

[jianjuan]

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Required Info
Camera Model	{ R200 / F200 / SR300 / ZR300 / D400 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (8.1/10) / Linux (Ubuntu 14/16/17) / MacOS
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC/Raspberry Pi/ NVIDIA Jetson / etc..
SDK Version	{ legacy / 2.. }
Language	{C/C#/labview/nodejs/opencv/pcl/python/unity }
Segment	{Robot/Smartphone/VR/AR/others }

Issue Description

Hi, have you tested D435 camera with a horizontal angle looking straight up at one object outdoor? Will this kind of angle affect the performance of depth reconstruction due to the sun's rays? What is the best angle of view for the same object？
And according to my experiments, it turns out that angled view is better than parallel view. Can you explain this? @MartyG-RealSense

[MartyG-RealSense]

Hi @jianjuan RealSense cameras can be oriented straight up or straight down without directly affecting the depth image due to the angle of the camera. An example use would be a camera mounted to the bottom of a flying drone that is pointing directly down towards the ground.

You should also be able to diagonally angle the camera up to 30 degrees from the straight-ahead position before there is a risk of problems occurring in the depth image at diagonal angles greater than 30.

However, if the camera is faced directly towards the sun then it can result in a degraded image. Intel provide advice about this in the section of their camera tuning guide linked to below.

https://dev.intelrealsense.com/docs/tuning-depth-cameras-for-best-performance#use-sunlight-but-avoid-glare

Intel recently introduced a new variant of the D435 called the D435f that is equipped with light filters on its sensors. Information about this model can be found at #10560

In regard to angled versus parallel view, angling the camera may help to break up patterns observed in the scene by the camera that cause its depth sensing to become confused, such as repetitive patterns (repeating horizontal or vertical arrangements of similar looking objects, such as a horizontal row of fence posts or tree-tops, or a vertical stack of window blind slats).

[MartyG-RealSense]

Hi @jianjuan Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.