Toggling post-processing filters during runtime

[rntatsuya]

I am currently developing with a D415 on Ubuntu 18.04, and I was wondering if it is possible to toggle filters, such as temporal and hole_filling, on and off after running the rs_camera node.

Is there a way to do this via dynamic reconfigure or would I have to relaunch the node every time I want to toggle the filters?

[MartyG-RealSense]

Hi @rntatsuya Once a filter has been defined in the roslaunch statement, you should be able to configure its specific settings with dynamic reconfigure during runtime by using a rosrun instruction.

The link below has an example of scripting for doing so with the Decimation filter:

#583

I don't know if they can be toggled on and off, though potentially you could set the Filter Magnitude to zero and achieve a similar effect to it being inactive.

[MartyG-RealSense]

Hi @rntatsuya Do you still require assistance with this case, please? Thanks!

[rntatsuya]

Hi @MartyG-RealSense
I reached the conclusion that it is not possible to toggle the post-processing filters on/off with dynamic reconfigure, so what I ended up doing was to use the Python roslaunch API to start the camera nodes with/without filters every time I need to toggle the filters.

[MartyG-RealSense]

Hi @rntatsuya Thanks for the update!