From eea5b1592d6889817c500b22179c1fe1da60cde4 Mon Sep 17 00:00:00 2001 From: doronhi Date: Tue, 2 Apr 2019 16:34:03 +0300 Subject: [PATCH] Add hole_filling filter. update version to 2.2.3 --- README.md | 1 + realsense2_camera/include/constants.h | 2 +- realsense2_camera/package.xml | 2 +- realsense2_camera/src/base_realsense_node.cpp | 5 +++++ 4 files changed, 8 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 1a3e4a9211..275ef2cef1 100644 --- a/README.md +++ b/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. - ****_width**, ****_height**, ****_fps**: 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 If the specified combination of parameters is not available by the device, the stream will not be published.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. diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index a87d7f2e54..6642408f1e 100644 --- a/realsense2_camera/include/constants.h +++ b/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) diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index 56d4e717a3..0b6f58455a 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -1,7 +1,7 @@ realsense2_camera - 2.2.0 + 2.2.3 RealSense Camera package allowing access to Intel 3D D400 cameras Sergey Dorodnicov Doron Hirshberg diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 2493a1b4f7..54fc5284f0 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/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())); } + else if ((*s_iter) == "hole_filling") + { + ROS_INFO("Add Filter: hole_filling"); + _filters.push_back(NamedFilter("hole_filling", std::make_shared())); + } else if ((*s_iter) == "decimation") { ROS_INFO("Add Filter: decimation");