Most of the Intel RealSense Depth Camera D400 family have an All-pass filter. There are trade-offs between using an IR-pass to an All-pass filter. The All-pass filter advantages include: Depth noise on indoor textured surfaces is typically better with visible light included. Better range for textured walls and objects with ambient visible light. For IR-only, the indoor range is directly limited by the power of the laser projector – much like trying to illuminate a room in the dark with only the flashlight from an iPhone. IR-only may lead to lower XY resolution and edge quality. For IR-only, you primarily see depth around the projected spots. So if a camera projects 5000 spots, both X-Y and the depth resolution may be reduced. The total amount of light seen by the sensor is reduced when using IR-only filter, so the exposure time is generally increased. This can impact motion sensitivity and frame rate. The indoor “dynamic range-of-range” is reduced by using an IR-only filter. The nearest spots will be saturated and farthest spots will not be visible. Many are familiar with this from experience with using a flash to take a picture in a dark room. Near objects are too bright and far objects are too dark. IR light is poorly reflected from many objects so if we only see IR we may see many more “holes” in the depth image. For example, hair, carpets, or jeans may be more difficult to see.