Pointcloud unexpected interpolation along view direction?

[taochenshh]

I am using ubuntu 16.04, realsense d435 and launched the rs_rgbd.launch file. THe pointcloud seems to be interpolating in the viewing direction. And because of this, there seems to be elongated tails of points where there should be empty space. I have done the calibration.

Example:
RGB Image:

The point cloud looks like these:
Front view

Side view

The red circle shows the issue. How to correct it? Thanks.

[MrYelameli]

How you did the calibration? what is the solution? Would you kindly let me know? I am also facing the similar problem.

[mahdipo]

step 1: due to sensor size for D435 840X480 is the standard resolution and generates less noise in this mode.
step 2: change preset in realsense viewer to HighAccuracy or HighDensity instead of default or custom, its give you much better result. also you can make this changes in your code too.