No available methods to filter depth stream

[poripsa]

None of the filters from realsense (library) can be applied without modifying the ros-wrapper. If it is going to be supported by the wrapper an approximate date of release would be great.

[icarpis]

Hello @poripsa, we are planning to add the Depth filters in the next releases.

[poripsa]

Hi @icarpis I will be trying to do it parallely with librealsense 2.10.0

[icarpis]

Thank you @poripsa, that's would be great.
As a reference you can take a look at the implementation of post-processing example.

[akifh]

@icarpis Any update on adding post-processing options to ROS wrapper? Or any guide on how and where to implement them?

[piotrpolatowski]

@akifh quick way for most filters is to modify base_realsense_node. I have skipped decimation filter though, since it would require more changes because of resolution change.

1. declare filters in header.

        // Decalre filters
        std::shared_ptr<rs2::decimation_filter> decimation_filter;
        std::shared_ptr<rs2::spatial_filter> spatial_filter; // edge-preserving spatial smoothing
        std::shared_ptr<rs2::temporal_filter> temporal_filter; // reduces temporal noise
        std::shared_ptr<rs2::disparity_transform> depth_to_disparity;
        std::shared_ptr<rs2::disparity_transform> disparity_to_depth;

2. initialize in constructor

    decimation_filter = std::make_shared<rs2::decimation_filter>();
    temporal_filter = std::make_shared<rs2::temporal_filter>();
    spatial_filter = std::make_shared<rs2::spatial_filter>();
    depth_to_disparity = std::make_shared<rs2::disparity_transform>(true);
    disparity_to_depth = std::make_shared<rs2::disparity_transform>(false);

3. apply filters in BaseRealSenseNode::setupStreams() around line 563

if (stream_type == RS2_STREAM_DEPTH)
{
  f = depth_to_disparity->process(f);
//                            f = decimation_filter->process(f);
  f = spatial_filter->process(f);
  f = temporal_filter->process(f);
  f = disparity_to_depth->process(f);
}

[anleger92]

@piotrpolatowski Thank you for your code :)
But when i insert the lines of code you posted I get errors. But this is probably because I just inserted them in the wrong order. I usually do not program in cpp.
Could you just name the lines in which I have to insert the code you posted?
Would appreciate it.

edit:
I now added the code to declare filters in header file in line 35.
And I initialized in constructor in line 25 in cpp file.
The third part of code I added where you mentioned

[anleger92]

Is there any update concerning the implementation of the decimation filter?

[baumanta]

@icarpis I also have the same problem, that I would need the decimation filter using the ROS wrapper. Is there any update on this issue?

[johannesburg]

In case anyone needs a quick fix: I've added the filter code to a forked repo of the realsense library and currently have three of the four filters added (temporal, spatial, and hole filling filter). Currently working on adding in the decimation filter.

[RealSenseCustomerSupport]

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