Pointcloud Filtering

[upasana27]

How to proceed with filtering the point cloud obtained from the point cloud example? Since the data structure belongs to rs2 library, how can we access the data?
Thanks and Regards

[MartyG-RealSense]

Hi @upasana27 Are you referring to applying post-processing filters to the point cloud data please? If you are, then the Intel guide to post-processing should be helpful.

https://dev.intelrealsense.com/docs/depth-post-processing

Could you also please also confirm which point cloud example you are using so that we know which programming language (C++, C# or Python) you are using. This will allow relevant script references to be suggested. Thanks!

[upasana27]

Hi @MartyG-RealSense, thanks for replying. I am using the following pointcloud example in C++: https://github.com/IntelRealSense/librealsense/tree/master/examples/pointcloud
Regards

[MartyG-RealSense]

Thanks very much for the information. The SDK has a C++ tutorial for defining post-processing filters at the link below:

https://github.com/IntelRealSense/librealsense/tree/master/examples/post-processing

Further documentation about post-processing filters is here:

https://github.com/IntelRealSense/librealsense/blob/master/doc/post-processing-filters.md

It includes a C++ example script at the bottom of the page.

[upasana27]

Hi @MartyG-RealSense, thank you for the help. I am looking forward to filter the generated point cloud using voxel leaf filtering and noise removal. I wanted to use PCL library for the same. Is there any recommended wrapper or code for converting the point cloud generated in the example into pcl format?
https://community.intel.com/t5/Items-with-no-label/Converting-RealSense-Pointcloud-to-PCL-Pointcloud/td-p/541957
This is a code which is available, however it generates a single point cloud rather than a stream.
Please let me know if there is any script which has been used reliably before for the use case.

Kind regards
Upasana

[MartyG-RealSense]

I have handled a couple of cases in the past where a voxelized point cloud has been generated using PCL. The links are below. I hope that you find some useful insights within them.

#6411
#6802

[upasana27]

Hi @MartyG-RealSense, thank you for the guidance. The issue has been solved. Closing the thread.

[MartyG-RealSense]

Thanks very much for the update @upasana27