depth_frame filtering (post-processing)

[ywjia]

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Required Info
Camera Model	D435
Firmware Version	5.10.3.0
Operating System & Version	Ubuntu 16
Kernel Version (Linux Only)	4.15
Platform	PC
SDK Version	2.16.0
Language	C++
Segment	VR

Issue Description

For filtering (i.e., post-processing) the depth_frame, why does the following code give random results?

rs2::spatial_filter spat_filter;
rs2::temporal_filter temp_filter;
rs2::disparity_transform depth_to_disparity(true);
rs2::disparity_transform disparity_to_depth(true);
depth_frame = depth_to_disparity.process(depth_frame);
depth_frame = spat_filter.process(depth_frame);
depth_frame = temp_filter.process(depth_frame);
depth_frame = disparity_to_depth.process(depth_frame);

"original depth_frame"

"filtered depth_frame"

Thanks.

[dorodnic]

Hi @ywjia

rs2::disparity_transform depth_to_disparity(true);
rs2::disparity_transform disparity_to_depth(true);

One of these needs to be false.
Right now you are transforming to disparity twice.

[ywjia]

Thanks, it works now.

[AIBluefisher]

Thanks, it works now.

Hi, @ywjia
Can you show me your code ? Thanks so much!