Clamp MaxZ may suit your needs if you only want depth values under a certain MaxZ value to be considered.
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If the problem is with the area behind the running man (which looks like a dragon using a computer), this may be related to the D435's 'RMS error' factor. The greater the distance of the depth being analyzed, the greater the depth noise, or RMS error, is. The D435 has more noise over distance than the D415 has, due to the hardware design of the D435.
You could try changing the Disparity Shift setting. As Disparity Shift is increased, the MaxZ reduces. So this may be a good way for you to set a maximum distance. Left-click on the images below to see them in full size.