[Question] D555 over PoE/DDS: recommended configuration for best depth accuracy at close range (0.3–0.6 m)

Camera Model (if applicable)

D555

Topic

Depth Streaming

Your Question

Required Info
Camera Model	D555
Firmware Version	7.58.38066.8032 (Early Access, May 2026)
Operating System & Version	Ubuntu 22.04
Platform	PC
Language	Python
Segment	Robot
Connection	PoE / Ethernet (DDS)

Issue Description

I am using a D555 connected over PoE (DDS), not USB, on firmware 7.58.38066.8032. My target objects are always at close range, roughly 0.3–0.6 m from the camera, and I need their depth to be as accurate as possible — both absolute Z accuracy and low frame-to-frame noise matter. I would like to know the recommended camera configuration for this use case.

Specific questions:

1. Firmware. I am on 7.58.38066.8032 (May 2026 Early Access), while the latest Early Access build is 7.58.40915.14272 (August 2026, SDK 2.58.4). Would updating to the newest build change anything for the features below — in particular, is the Improved Close Range Depth filter available on my current firmware, or does it require a newer one?

2. Min-Z per resolution. The datasheet lists Min-Z = 26 cm (VGA) for D555. Could you share the Min-Z for the other supported depth resolutions (e.g. 640x360, 848x480, 1280x720)? Which depth resolution do you recommend for the 0.3–0.6 m range — the highest resolution, or a lower one with a shorter Min-Z?

3. Improved Close Range Depth. Release notes for v2.58.3 mention that the "Improved Close Range Depth" feature is now available on D555 (USB & DDS) via the new embedded filter API (RS2_EXTENSION_CLOSE_RANGE_EMBEDDED_FILTER). Is this the right feature for my use case?

   • How do I enable it from pyrealsense2? A short Python snippet would be very helpful.
   • Are there any prerequisites (extra package, host platform)?
   • Does it behave identically over DDS/PoE and over USB?
   • What range does it actually improve, and does it lower the effective Min-Z?

4. Setting options over DDS. Which of the depth-tuning controls discussed below are actually settable over Ethernet/DDS without a USB connection? If some of them are USB-only, please say so explicitly so I can plan around it.

5. Advanced Mode / disparity shift. On D400 series, increasing disparityShift in the depth table is the standard way to shift the measurable range closer. Is Advanced Mode (or an equivalent depth-table control) available on D555 / D500 series? If not, what is the recommended alternative for biasing the camera toward close range?

6. Visual presets. Does D555 support visual presets such as High Accuracy? Which preset do you recommend for a static, close-range, indoor scene where I care about accuracy rather than fill rate?

7. Depth units. For sub-metre work, the D400 tuning white paper recommends changing depth units from 1000 µm to 100 µm for finer depth quantisation. Is RS2_OPTION_DEPTH_UNITS settable on D555 over DDS, and would you recommend it here?

8. Projector / exposure at close range. At 0.3–0.6 m the IR pattern can saturate the sensor. What laser power and exposure/gain settings do you recommend? Should auto-exposure be disabled and an exposure ROI set on the object instead?

9. Calibration. To get the best absolute accuracy in this range, should I run on-chip self-calibration and then Tare calibration with the target at ~0.4 m? Are both supported on D555, and can they be run over PoE/DDS?

10. Post-processing. Which post-processing filters do you recommend for this range, and in which order? Are any of them counter-productive for accuracy (as opposed to visual smoothness)?

11. Expected performance. Roughly what Z-accuracy / RMS error should I expect from D555 at 0.3 m and 0.6 m with an optimal configuration? And to be blunt: is D555 simply the wrong SKU for this distance compared to a short-range model? If so, I would still like to squeeze the best possible result out of the D555 I already have.

Thank you!

Context / What You've Tried

No response

LibRealSense SDK Version (if applicable)

No response

Operating System (if applicable)

None

Additional Context

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