Green Dead pixels in right corner of depth steam of D435 camera

[Ashutosh-Badave]

Hi all,
System :

librealsense	2.38.1 RELEASE
OS	Linux
Name	Intel RealSense D435
Serial Number	013222073966
Firmware Version	05.12.07.100
Advanced Mode	YES
Camera Locked	YES
Usb Type Descriptor	3.2
Product Line	D400
Asic Serial Number	009223021035
Firmware Update Id	009223021035

I have getting strange 3D depth stream from D435 camera after connected with realsense viewer as shown below:

I searched for this issue and I found it might be mis-calibration because of physical shock or if camera dropped. As mentioned in here
So, I did the intrinsic, extrinsic calibration from viwer as well as calibration from dynamic calibrator v2.11.0.0 but still issue remained.
Please let me know what I need to do in this case.

Kind regards,
Ashutosh Badave

[MartyG-RealSense]

Hi @Ashutosh-Badave There have been a couple of cases of this green corner effect before, though to a lesser extent than the prominent green area that you are experiencing. The case that you linked to was one of them. In the other case, a solution that corrected the problem was to install librealsense via the RSUSB backend method.

#6845

[Ashutosh-Badave]

Hi @MartyG-RealSense , Thank you for providing a quick response. I started building the code as mentioned above on my Linux system but the more interesting thing is the camera is working perfectly fine with JetsonTx2 board without any dead pixels and I didn't get the reason.

[MartyG-RealSense]

If you built librealsense on TX2 from packages (like in the link below) then I would speculate that this is what protects it against the problem, and that it is an issue related to the kernel when building from source without using the backend method. That is my theory though, not certainty.

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md

The link below has a good comparison of the advantages and disadvantages of a libuvc-based install vs kernel patching. Scroll down to the section of the linked-to comment headed What are the advantages and disadvantages of using libuvc vs patched kernel modules?

#5212 (comment)

[Ashutosh-Badave]

Hi @MartyG-RealSense , Thanks for sharing the information, and yes for Tx2, I used the above method.
About my issue, I have downloaded, extracted, and built the librealsense-2.38.1. Now how should I launch realsense viewer so that these files will be used and not previously installed? and how should I use them in my application?

[MartyG-RealSense]

Hi @Ashutosh-Badave If you input the command realsense-viewer to launch the Viewer (or find it in a file search on your Ubuntu desktop by searching for the name realsense-viewer), does the Viewer have the title Intel RealSense Viewer v2.38.1 at the top of its window, please?

In regard to your question of how to use the SDK's files in your application, are you asking how to link librealsense into your own self-written programs, please?

[Ashutosh-Badave]

Yes. It is showing with same error.

[MartyG-RealSense]

And your first installation (the one where you first encountered the green pixels) was built from source code using the patching-based installation method?

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

[Ashutosh-Badave]

I have installed as per this https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
Where I am getting issue.

On TX2, I am using realsense V2.35.2. I don't know this information is relevant or not.

[MartyG-RealSense]

I think what you are saying is that on the computer that you have the problem on, you installed with the package distribution method and you also installed from packages on TX2, so you do not know why the TX2 build works fine and the other has the problem with the green box. Is that correct, please?

[Ashutosh-Badave]

Yes. After doing the backend method then also it has the same issue. I am confused, what should I do now?

[MartyG-RealSense]

A common factor in the other two cases of a green area in the corner are that the green appears in the bottom corner of the RGB image. Does the green appear in the bottom corner of your RGB image in 2D mode too, please?

[Ashutosh-Badave]

Hi @MartyG-RealSense,
it is resolved. I have forgotten, I need do to sudo make install after build

But it shows ´librealsense2-udev-rules´ are missing. What should I do for that?

[MartyG-RealSense]

I'm very pleased to hear that you made progress.

If you have missing udev rules, please try inputting the command below:

sudo apt-get upgrade/install librealsense2-udev-rules

[Ashutosh-Badave]

Thank you so much @MartyG-RealSense for your support. Everything is working correctly.

[MartyG-RealSense]

Great news - good luck with the camera!