o3d.t.io.RSBagReader() with libRealSense Depth Post-Processing
#6,164 opened on May 23, 2023
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Description
Checklist
- I have searched for similar issues.
- For Python issues, I have tested with the latest development wheel.
- I have checked the release documentation and the latest documentation (for
masterbranch).
Proposed new feature or change
When reading a .bag file we would like apply Depth Post-Processing as implemented in the Intel RealSense SDK 2.0 (libRealSense)
The existing o3d.t.io.RSBagReader() class reads a .bag file as-is but we cannot add the libRealSense post processing such as decimation or temporal filters to the depth data.
When using o3d.t.io.RSBagReader() we get a RGBDImage Open3D format from bag_reader.next_frame(). This means there is no space to actually apply depth post-processing.
This work involves adding additional code to o3d.t.io.RSBagReader() to apply additional filters to the depth variable. For example (Python Pseudo Code):
depth_frame = frames.get_depth_frame(); decimation_filter = rs.decimation_filter() decimation_filter.set_option(filter_magnitude, decimation_magnitude) filtered_frame = decimation_filter.process(depth_frame)
Filters could be passed as json or a dictionary of filters
References
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