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During my first tests with the D435 Camera I observed that the measured depth points always building smooth surfaces. There is no noise in the depth data if you look at a smal selection of points. But you can see that there are structures like little waves in the depth data. It looks like some preprocessing to denoise the data, but this effect looks like there is a structure in a flat surface. It would be helpfull to get the raw data with all the noise and then I can look what points I would use or not.I tried to use different presets, the high accuracy delivers the best results (smalest waves), but I did not find anything to get depth data like I get from Kinect or Primsense.I think that post processing the output is not the solution, I just like to get a less preprocessed set of depth data. The problem is getting worse with further distance (>1,5m).I would be happy to get some hints.
Depth accuracy can depend on the resolution you are using. Lower resolution causes greater error as the distance increases. It is recommended that you use 848x480 as your minimum depth resolution for good results.
The 400 Series cameras apply a distortion model called Modified Brown-Conrady to the data.