{"action":"opened","issue":{"url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2744","repository_url":"https://api.github.com/repos/IntelRealSense/librealsense","labels_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2744/labels{/name}","comments_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2744/comments","events_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2744/events","html_url":"https://github.com/IntelRealSense/librealsense/issues/2744","id":382119445,"node_id":"MDU6SXNzdWUzODIxMTk0NDU=","number":2744,"title":"High level of noise on depth images","user":{"login":"fwindolf","id":10819729,"node_id":"MDQ6VXNlcjEwODE5NzI5","avatar_url":"https://avatars3.githubusercontent.com/u/10819729?v=4","gravatar_id":"","url":"https://api.github.com/users/fwindolf","html_url":"https://github.com/fwindolf","followers_url":"https://api.github.com/users/fwindolf/followers","following_url":"https://api.github.com/users/fwindolf/following{/other_user}","gists_url":"https://api.github.com/users/fwindolf/gists{/gist_id}","starred_url":"https://api.github.com/users/fwindolf/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fwindolf/subscriptions","organizations_url":"https://api.github.com/users/fwindolf/orgs","repos_url":"https://api.github.com/users/fwindolf/repos","events_url":"https://api.github.com/users/fwindolf/events{/privacy}","received_events_url":"https://api.github.com/users/fwindolf/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-11-19T09:13:36Z","updated_at":"2018-11-19T09:13:36Z","closed_at":null,"author_association":"NONE","body":"----------------------------------------------------------------------------------------------------\r\n| Required Info                         |                                                                |\r\n|---------------------------------|------------------------------------------- |\r\n| Camera Model                       | D400 (D435, D415) | \r\n| Firmware Version                   | 05.10.06.00 | \r\n| Operating System & Version |  Ubuntu 16 | \r\n| Kernel Version (Linux Only)    |  4.15.0-36.39~16.04.1-generic 4.15.18 | \r\n| Platform                                 | PC  |\r\n| SDK Version                            |  2.16.4                        | \r\n| Language                            |  C                        | \r\n\r\nWe made a switch for our application from ASUS Xtion sensors to the Realsense D400 series, using two D415 and one D435 camera for creating 3D models of persons.\r\n\r\nAfter having massive problems with oversmooth models, we tested the depth accuracy and noise behaviour of the D400 vs the Xtion. Compared to the realtively steady depth images of the Xtion, the D400s output extremely noisy images. \r\n\r\nWe followed the depth *Best Known Methods for Tuning Intel RealSense Depth Cameras* guide to no avail, using the high accuracy preset with minor modifications on depth table, RSM and census. But even in a stationary setting (which we do not have in our application), post processing was not able to reduce the noise level to anything remotely close to what the Xtion can provide.\r\n\r\nDo you have any suggestions on:\r\n* how to reduce noise on the depth images without applying temporal filters?\r\n* how to increase the density without getting interpolation  from fg to bg on large jumps? \r\n\r\nThanks!\r\n"}}
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