Hole-filling filter for depth images #170
Labels
enhancement
New feature or request
help wanted
Extra attention is needed
triage approved
The Issue has been reviewed and approved for development by the Azure Kinect ROS Driver Team
Is your feature request related to a problem? Please describe.
Hi, I am new to Kinect and ROS. I am trying to write an object tracking program with accurate distance info. I tried to retrieve the depth frames from the Kinect on ROS1 and I found some depth pixels are having 0 distance (shown black in the image). I guess the distance is out of range or the material is special that the IR cant reach. Are there any filters provided by Azure_Kinect_ROS_Driver that can help me to fix the hole problem of Kinect? Or we are supposed to implement our own Holes Filling filter?
The below image showing the
depth_to_rgb/image_raw
topic with the hole/noise problem.Are there also any ways to configure the max depth when launching
driver.launch
? I saw the operating range are at most 5.5m in the documentation page but somehow I found it can detect up to 7m.Describe the solution you'd like
I did some research and I found the hole-filling filter can be implemented using the Region Growing technique and Gaussian/Bilateral filter. I am not sure how it can be implemented efficiently but I noticed the ROS Wrapper for Intel® RealSense has a launch parameter allowing the user to apply some filters to the depth image.
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