Should I be able to use rs2::pointcloud with decimated depth?

[mbechard]

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Required Info
Camera Model	L515
Firmware Version	01.04.01.02
Operating System & Version	Win10
Kernel Version (Linux Only)
Platform
SDK Version	2.36.0
Language	C++
Segment	AR

Issue Description

Even in the sample 'pointcloud' app, if I create a decimation filter and set it up with a magnitude of 2, I get a crash when I pass the decimated depth into process() for the pointcloud. The crash occurs deep in the librealsense .dll.
Is this expected to work?
It seems like it sometimes works in my app, but not consistently.

Thanks

[ev-mp]

@mbechard , the post-processing filters are mostly* agnostic to the source as long as the input formats agree. (*Doesn't apply for disparity_domain).
There should be no issue to use L515-produced and decimated depth frames for pointcloud generation. Here I slightly changed the code to make the decimation appear with L515 in the Viewer:

[mbechard]

I tried using the latest master and this code crashes using the rs-pointcloud example, using an L515.
https://gist.github.com/mbechard/9761f9617dbd543af4f7ea3c05d857c6
Any ideas?

[ev-mp]

@mbechard hello, I managed to reproduce the error and understand what went wrong - the issue is specific to pointcloud generation with L515 with RGB texture mapping turned on.
This is also the reason that it does not affect the above scene - the generated pointcloud is not textured.

We'll handle it internally and update as the fix becomes available.
Note that you can still generate decimated 3D pointclouds if you stick to the following limitations:

• Set Depth resolution 1024X768
• Set Decimation scale (magnitude factor) to be 2,4 or 8.

    rs2::config cfg;
    cfg.enable_stream(RS2_STREAM_DEPTH, -1, 1024, 768, RS2_FORMAT_Z16, 30);
    cfg.enable_stream(RS2_STREAM_COLOR);
    // Start streaming
    pipe.start(cfg);

[RealSenseSupport]

Hi @mbechard

Is it safe to close this? Were you able to try with the above fix?

Thanks

fyi if we don’t hear from you in 7 days, this issue will be closed.

[mbechard]

Yep, looks like it. Thanks!