"disparity_filter.enable" : "true" does not work

[Shunichi09]

• Before opening a new issue, we wanted to provide you with some useful suggestions (Click "Preview" above for a better view):

  • Consider checking our ROS RealSense Wrapper documentation README.
  • Have you looked in our Discussions?
  • Try searching our GitHub Issues (open and closed) for a similar issue.

• All users are welcomed to report bugs, ask questions, suggest or request enhancements and generally feel free to open new issue, even if they haven't followed any of the suggestions above :)

---

Required Info
Camera Model	D435 / D435i
Firmware Version	5.16.0.1
Operating System & Version	ubuntu 22.04}
Kernel Version (Linux Only)	(e.g. 5.4)
Platform	PC
Librealsense SDK Version	2.. }
Language	cpp and ros2
Segment	{Robot}
ROS Distro	Humble }
RealSense ROS Wrapper Version	current ros2-dev branch

Issue Description

When I apply "disparity_filter.enable": "true", I encounter the following error:

[realsense2_camera_node-1] Please try different format of this stream.
[realsense2_camera_node-1] [ERROR] [1723874490.956257341] [camera.rs_745412071535]: cv::Mat is empty. Ignoring this frame.
[realsense2_camera_node-1] [ERROR] [1723874490.956261868] [camera.rs_745412071535]: Could not fill ROS message. Frame was dropped.
[realsense2_camera_node-1] [ERROR] [1723874490.992304169] [camera.rs_745412071535]: Format DISPARITY32 is not supported in realsense2_camera node.

I suspect this error might be due to an incorrect format setting for either the depth or RGB streams.
My current configuration is as follows:

"depth_module.depth_profile": "1280x720x30",
"rgb_camera.color_profile": "1280x720x30",
"depth_module.infra_profile": "1280x720x30",

I searched through the documentation but couldn't find any information regarding this issue.

Could you please advise me on how to resolve this?

I really appreciate your help in advance.

My current launch settingis

realsense_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(
                get_package_share_directory("realsense2_camera"),
                "launch",
                "rs_launch.py",
            )
        ),
        launch_arguments={
            "serial_no": LaunchConfiguration("realsense_serial_number"),
            "depth_module.depth_profile": "1280x720x30",
            "rgb_camera.color_profile": "1280x720x30",
            "depth_module.infra_profile": "1280x720x30",
            "rgb_camera.color_format": "RGB8",
            "enable_sync": "true",
            "align_depth.enable": "true",
            "enable_rgbd": "false",
            "enable_color": "true",
            "enable_depth": "true",
            "camera_name": LaunchConfiguration("realsense_camera_name"),
            "rgb_camera.enable_auto_white_balance": "false",
            "rgb_camera.white_balance": "4600",
            "spatial_filter.enable": "true",  
            "temporal_filter.enable": "true", 
            "hole_filling_filter.enable": "false", 
            "decimation_filter.enable": "true",  
            "disparity_filter.enable": "true",
            "hdr_merge.enable": "true",
        }.items(),
        condition=IfCondition(LaunchConfiguration("realsense_node")),
    )

[MartyG-RealSense]

Hi @Shunichi09 A RealSense ROS user at #2304 who also had problems with setting the disparity filter to true found that they also had to set disparity_to_depth.enable to true to resolve the problem, as the disparity image is then output in 16-bit format instead of the unsupported 32-bit format.

[Shunichi09]

Thank you for the quick reply!!

Wow! I solved the problem. I really appreciate your help.

[MartyG-RealSense]

You are very welcome, @Shunichi09 - I'm pleased that I could help. Thanks very much for the update!

[MartyG-RealSense]

Case closed due to solution achieved and no further comments received.