realsense的深度信息噪声特别大,直接拿来做物体定位不会太准,需要先后处理。
可参考:
- https://www.mouser.com/pdfdocs/Intel-RealSense-Depth-PostProcess.pdf
- https://github.com/IntelRealSense/librealsense/blob/master/doc/post-processing-filters.md#hole-filling-filter
// Streaming initialization
rs2::pipeline pipe;
...
// Declare filters
rs2::decimation_filter dec_filter;
rs2::spatial_filter spat_filter;
// Configure filter parameters
decimation_filter.set_option(RS2_OPTION_FILTER_MAGNITUDE, 3);
...
spatial_filter.set_option(RS2_OPTION_FILTER_SMOOTH_ALPHA, 0.55f);
...
// Main Loop
while (true) {
rs2::frameset data = pipe.wait_for_frames();
rs2::frame depth_frame = data.get_depth_frame();
...
rs2::frame filtered = depth_frame;
// Note the concatenation of output/input frame to build up a chain
filtered = dec_filter.process(filtered);
filtered = spatial_filter.process(filtered);
}