Unexpected/unrealistic Behavior from the Depth Sensor

[freiberg-roman]

System:

• OS version: 20.04 Ubuntu
• SAPIEN version: 2.2.1
• Environment: Desktop

Describe the bug
Unexpected/unrealistic behavior from the depth sensor. I created a similar example scene (with
identical rendering settings and a top-down view) as in rt_stereodepth.py and compared the point clouds at different heights. There seems to be some extreme artifacts in the depth image and the corresponding point cloud at 0.3-0.5-meter distance from the table. The point cloud becomes usable at heights around 0.8 meter from the table. The RealSense sensor provides usable data at around 0.3 meters. I think this should be documented.

Thank you and best regards
Roman