Wrong result in registered depth image on realsense D435if using rs_rgbd.launch (ROS1)

[Alessio-Parmeggiani]

Hi, I noticed that using the rs_rgbd.launch file from the ROS1 branch and align_depth=false the output registered depth image has some problems.
In the following image I show the rgb image, the depth image and the registered depth computed by the launch file.

The problem occurs because the register node from depth_image_proc needs an additional parameter fill_upsampling_holes=true.
Otherwise the RGB image has a higher resolution and the pixels with no depth information will not be filled.

This is the result with the fill_upsampling_holes=true parameter set in the launch file.

Tested using Ubuntu 22 and ROS2 but the parameter is the same in ROS1 Noetic.

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Required Info
Camera Model	D435if
Firmware Version	5.15.1
Operating System & Version	Ubuntu 20
Platform	PC/Jetson Orin Nano
Librealsense SDK Version	{ 2.. }
ROS Distro	Noetic

[MartyG-RealSense]

Hi @Alessio-Parmeggiani Thanks very much for your report about registered depth in the rs_rgbd launch file and the sharing of your method of using fill_upsampling_holes=true to resolve it.

When align_depth is true, the librealsense SDK's align processing block automatically compensates for differences in resolution between depth and color.

[Alessio-Parmeggiani]

Thank you for answering @MartyG-RealSense.
I know about using align_depth=true but when I used it on the Jetson Orin Nano I got a really low rate (about 4 Hz). By using instead the depth_image_proc package on the rs_rgbd.launch I get a much higher rate.

[MartyG-RealSense]

As the RealSense ROS1 wrapper has ceased development (the ROS2 wrapper continues to be updated), your fill_upsampling_holes=true workaround is likely to be the best available solution to your registered depth issue. Thanks very much again for sharing your find.

[MartyG-RealSense]

Hi @Alessio-Parmeggiani Do you require further assistance with this case, please? Thanks!

[Alessio-Parmeggiani]

No I don't require further assistance, I can close the issue. Thank you!

[MartyG-RealSense]

You are very welcome, @Alessio-Parmeggiani - thanks very much for the update!