Distortion when color and depth information are combined.

[DanielSchimpf]

librealsense	2.47.0 RELEASE
OS	Linux
Name	Intel RealSense D435
Serial Number	021122070656
Firmware Version	05.12.14.50
Advanced Mode	YES
Camera Locked	YES
Usb Type Descriptor	3.2
Product Line	D400
Asic Serial Number	939423025388
Firmware Update Id	939423025388

Hello,

When I use this version of the realsense viewer the color infomration does not get projected correctly to the depth information.
The two pictures should explain what I mean. The first picture shows the 3D visualization and one can see that the piece of paper and everything else gets streched into the area where no information seems to be available.
The second picture shows the two streams seperated.

What causes this distortion? If I run the realsense viewer on windows it does not happen... In windows the depth map gets cropped (because I believe the sensors have different FOV), but just a little.
Below the screenshots from windows.

Thanks!

Edit 1:
When I cange the resolution of the camera stream it gets a little better, but it still shows depth information with color where it shouldn't.

[MartyG-RealSense]

Hi @DanielSchimpf Could you use the instructions in the link below to check whether you have a pair of GLSL options called 'Rendering' and 'Processing' under the Performance section of the Settings interface of the RealSense Viewer, and disable these two options if they are present, please.

#8110 (comment)

If you are able to disable these two GLSL options, does it improve the performance of 3D mode in your Viewer in Linux, please?

[DanielSchimpf]

Hey, both options were already disabled, so no change.

[ev-mp]

@DanielSchimpf , the RGB FOV for D435 is smaller than for the Depth , therefore the OpenGl renderer wraps RGB texture over the regions with no coverage.
The artifact has no impact on the actual point cloud data and can be safely disregarded. Alternatively, you can modify the Realsense-Viewer code and prevent the usage of OpenGl texture wrap filters.

Duplicate of #3106, #2237 , #4559

[MartyG-RealSense]

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

[MartyG-RealSense]

Case closed due to no further comments received.