[Feature request] Expose the apply_depth_control_preset function

[I0x0I]

Hi everyone, as mentioned in #50, using the default settings of R200 may produce a noisy depth image, the ds-private.cpp shows the default settings are actually optimized for outdoor scenario.

    const dc_params dc_params::presets[] = {
        {5, 5, 192,  1,  512, 6, 24, 27,  7,   24}, // (DEFAULT) Default settings on chip. Similiar to the medium setting and best for outdoors.
        {5, 5,   0,  0, 1023, 0,  0,  0,  0, 2047}, // (OFF) Disable almost all hardware-based outlier removal
        {5, 5, 115,  1,  512, 6, 18, 25,  3,   24}, // (LOW) Provide a depthmap with a lower number of outliers removed, which has minimal false negatives.
        {5, 5, 185,  5,  505, 6, 35, 45, 45,   14}, // (MEDIUM) Provide a depthmap with a medium number of outliers removed, which has balanced approach.
        {5, 5, 175, 24,  430, 6, 48, 47, 24,   12}, // (OPTIMIZED) Provide a depthmap with a medium/high number of outliers removed. Derived from an optimization function.
        {5, 5, 235, 27,  420, 8, 80, 70, 90,   12}, // (HIGH) Provide a depthmap with a higher number of outliers removed, which has minimal false positives.
    };

By using the apply_depth_control_preset function from the rs.hpp to set the R200 works in HIGH mode, I can clearly see a reduce of noise points in the depth image.
So exposing the apply_depth_control_preset function in the ROS node is likely to solve the problem ;-)

[doisyg]

That would be amazing!
I've never used librealsense, just the ROS implementation. Without exposing the 'apply_depth_control_preset' function in the ROS node, is there a way of changing this mode and making the change permanent to use it then in ROS?

[I0x0I]

For different versions of librealsense, fixs might not be the same.
As for the latest version, a possible quick fix can be like

1. Include librealsense/rsutil.h in base_nodelet.h
2. Add rs_apply_depth_control_preset(rs_device_, 5); to base_nodelet.cpp line 478

I haven't try out this quick fix yet since I use an older version of librealsense and this fix is probably only for the R200.

[doisyg]

Thanks a lot @I0x0I , this fix works great and I have a much cleaner pointcloud now

[reaganlo]

@I0x0I Thanks for your suggestion. We are working on providing a ROS API for this functionality via rqt_reconfigure. We will keep you posted.

[mdhorn]

This will be include in the upcoming 1.5.0 release.

[mdhorn]

Fixed by release 1.5.0
https://github.com/intel-ros/realsense/releases/tag/1.5.0

[doisyg]

Is it possible to view a working launch file which use the new depth control preset option?

EDIT: found it with rqt_reconfigure but would be nice to have this documented in the readme

[mdhorn]

r200_nodelet_dc_preset.launch.txt

I'm attaching a sample file to set a different depth control preset: r200_nodelet_dc_preset.launch

However, in testing this I found a bug in the 1.5.0 implementation and documented the bug as Issue #132

A fix for this should be in the 'indigo-devel' branch soon and it will be in the next release 1.6.0.

[lucasjinreal]

@mdhorn How to open this option in code?

[mdhorn]

@jinfagang I haven't looked at this for a few years, but you should be able to change the parameter with the API http://wiki.ros.org/ROS/Parameter%20Server%20API