Colored lines at the edge of depth image in Realsense Viewer

[Marenix]

Required Info
Camera Model	D415
Firmware Version	5.12.13.50
Operating System & Version	Ubuntu 18
Kernel Version (Linux Only)	5.4.0-73
Platform	PC
SDK Version	2.45.0
Language
Segment

Issue Description

Hey,
I've been testing D415 and noticed some lines at the edges of the depth image. They appear to show something there, even though there''s nothing, and when I zoom in and hover over that colored area, it shows the depth is 0m. It also appears to change based on the rest of the image, like it's showing maximum/minimum in a row/column. I tried some of the older versions of librealsense, and I found that this appears from version 2.24.0. Versions before that don't have it, and the release notes for version 2.24 didn't have anything about it, so I'm guessing it's not intentional?

It's seen most clearly at the left edge, but it's also visible at the upper and lower edge:

The zoomed in version, with my pointer hovering over the dark red area at the edge:

[MartyG-RealSense]

Hi @Marenix I have handled a few past cases involving this phenomenon, though the colored line was limited to the bottom of the image rather than being present on the side too.

#6845
#7340
https://support.intelrealsense.com/hc/en-us/community/posts/360048022393-Dead-green-pixels-in-stream-

My understanding is that it occurs on Linux but not on Windows, and that it can be resolved by building librealsense from source code using the RSUSB backend installation method. This method, which uses an internet connection, is not dependent on Linux versions or kernel versions and does not require patching.

#6845 (comment)

[Marenix]

Hi @MartyG-RealSense, thanks for the quick answer! You are correct, I tested it on Windows and this phenomenon isn't present there. I have also tried your method, building librealsense from source using RSUSB backend on Linux, and unfortunately it did not solve the problem. The phenomenon is still there. From what I saw in the links you shared, other people had this problem on RGB image, while here it appears on depth image.

[MartyG-RealSense]

It looks as though the depth images in those past cases are primarily ones where RGB is mapped onto depth points on a point cloud, so it is conceivable that the issue could be on the RGB image and gets mapped onto the depth points when generating a textured point cloud.

I will seek advice from Intel about the phenomenon, given that it has been documented in the past and you are still experiencing something similar with depth. Thanks for the report!

[MartyG-RealSense]

Hi @Marenix After discussion with Intel, I have filed an official bug report with Intel regarding the issue of colored lines on edges on Linux only. This case should be kept open whilst the bug report is active. Thanks for the report!

[Marenix]

Hi @MartyG-RealSense, thanks for the info!

[MartyG-RealSense]

Hi @Marenix My Intel RealSense colleagues have now implemented a fix in the SDK for the issue of colored lines on the edges of the depth image. Thanks very much for your patience! As the solution is implemented, this case will be closed. Thanks again!

[Marenix]

@MartyG-RealSense, thank you for informing me. Can I ask if this has been resolved in the newest release, or will it be a part of the release from the next release forwards?

[MartyG-RealSense]

The change has been merged into the development version of the SDK, which becomes the latest 'master' SDK version when released. So it will be in the next release, which should be 2.54.0.

The development branch of the SDK can be found at the link below.

https://github.com/IntelRealSense/librealsense/tree/development