pyrealsenseでdepthにthread_filterをかける方法

目的

↓これの"Score Minimum Threshold"と"Score Maximum Threshold"をpyrealsenseで同じことをしたい

方法

depth_frame = frames.get_depth_frame()
t = rs.threshold_filter(min_dist=1, max_dist=2)
depth_frame = t.process(depth_frame)

実行結果

プログラム

import pyrealsense2 as rs

pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)

pipeline.start(config)

align_to = rs.stream.color
align = rs.align(align_to)

for x in range(10):
  pipeline.wait_for_frames()

frames = pipeline.wait_for_frames()
frames = align.process(frames)

depth_frame = frames.get_depth_frame()
t = rs.threshold_filter(min_dist=1, max_dist=2)
depth_frame = t.process(depth_frame)

pipeline.stop()

• 生画像

• thread_filter(max_depth=1)