Python Decimation Filter with Aligning Frames #2356
Description
| Required Info | |
|---|---|
| Camera Model | D435 |
| Firmware Version | 05.09.14.00 |
| Operating System & Version | Ubuntu 16.04 |
| Kernel Version (Linux Only) | 4.15.0-33-generic |
| Platform | PC |
| SDK Version | 2.13.0 |
| Language | python |
| Segment | Robot |
Issue Description
I am trying to get the decimation filter combined with aligning frames to run, but could not make it work. I did not find any python documentation/issues/examples regarding this. As per this issue #1207 I wanted to first post-process before aligning.
Here is my current code. Everything works fine without using the filter.
# frameset of color and depth
frames = self.pipeline.wait_for_frames()
depth = frames.get_depth_frame()
# Apply filters to depth
depth = self.dec_filter.process(depth)
# TODO: Combine filtered depth with frames
# ????
# Align the depth frame to color frame
aligned_frames = self.align.process(frames)
# Get aligned frames
aligned_depth_frame = aligned_frames.get_depth_frame()
color_frame = aligned_frames.get_color_frame()
# Validate that both frames are valid
if not aligned_depth_frame or not color_frame:
continueI thought I figured out a way that could work, but currently the binding is bugged so I don't know if that would work:
#...
depth = self.filter_chain(depth)
list_of_frames = [rs.frame(frames.get_color_frame()), depth]
source = rs.frame_source()
frames = source.allocate_composite_frame(list_of_frames)
# Align the depth frame to color frame
aligned_frames = self.align.process(frames)
#...Which gives me this:
TypeError: pyrealsense2.frame_source: No constructor defined!
So my question is: Am I on the right track? Or even better, Is there a way to do it without using allocate_composite_frame?