o3d.t.io.RSBagReader() with libRealSense Depth Post-Processing

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 master branch).

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

https://github.com/oclis/ROS-EYE/blob/ec30974957be471ef60da47f173dfbbffcfc555d/src/realsense_device_manager.py#L49

Additional information

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