Add hole_filling filter.

update version to 2.2.3

README.md

@@ -83,6 +83,7 @@ The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc.
    - ```disparity``` - convert depth to disparity before applying other filters and back.
    - ```spatial``` - filter the depth image spatially.
    - ```temporal``` - filter the depth image temporally.
+   - ```hole_filling``` - apply hole-filling filter.
    - ```decimation``` - reduces depth scene complexity.
 - **enable_sync**: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled.
 - ***<stream_type>*_width**, ***<stream_type>*_height**, ***<stream_type>*_fps**: <stream_type> can be any of *infra, color, fisheye, depth, gyro, accel, pose*. Sets the required format of the device. If the specified combination of parameters is not available by the device, the stream will not be published. Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined). Note: for gyro accel and pose, only _fps option is meaningful.

realsense2_camera/include/constants.h

@@ -7,7 +7,7 @@
 
 #define REALSENSE_ROS_MAJOR_VERSION    2
 #define REALSENSE_ROS_MINOR_VERSION    2
-#define REALSENSE_ROS_PATCH_VERSION    2
+#define REALSENSE_ROS_PATCH_VERSION    3
 
 #define STRINGIFY(arg) #arg
 #define VAR_ARG_STRING(arg) STRINGIFY(arg)

realsense2_camera/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>realsense2_camera</name>
-  <version>2.2.0</version>
+  <version>2.2.3</version>
   <description>RealSense Camera package allowing access to Intel 3D D400 cameras</description>
   <maintainer email="[email protected]">Sergey Dorodnicov</maintainer>
   <maintainer email="[email protected]">Doron Hirshberg</maintainer>

realsense2_camera/src/base_realsense_node.cpp

@@ -891,6 +891,11 @@ void BaseRealSenseNode::setupFilters()
             ROS_INFO("Add Filter: temporal");
             _filters.push_back(NamedFilter("temporal", std::make_shared<rs2::temporal_filter>()));
         }
+        else if ((*s_iter) == "hole_filling")
+        {
+            ROS_INFO("Add Filter: hole_filling");
+            _filters.push_back(NamedFilter("hole_filling", std::make_shared<rs2::hole_filling_filter>()));
+        }
         else if ((*s_iter) == "decimation")
         {
             ROS_INFO("Add Filter: decimation");