How to imporve the mapping performance with D435?

[shivauchiha]

When I focus on staircase like obstacles , I am not getting stair case like structure. Instead I get mound like structure .

[maximilianwulf]

It seems you are that your sensor is so far that you run into the egg carton effect. I think it should be solved by moving the camera closer.

Also I recommend: https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/BKMs_Tuning_RealSense_D4xx_Cam.pdf