RealSense SDK includes software filtering of the depth data aimed for noise reduction. However, too much filtering brings other unwanted effects to the data like motion blur or delays.
You can actually play with RealSense filtering in iPi Recorder. Click on a camera screen to open the Properties panel. First, look at "Settings profile" combo. A profile defines specific values for some individual settings. 2 built-in profiles come with iPi Recorder -
Default which enables some temporal processing and
No depth processing which disables filtering altogether. Check which one is better for you.
If you are not completely satisfied with any and are curious enough then you can go further to the System Dialog (press that button in the bottom of Properties panel). On the Depth Processing tab you'll find the full range of available options for depth processing. Please don't ask me about the meaning of specific options - RealSense docs/forums may help you better than me here :) Play with them to find what works best for you.
Note that individual processing options are not persisted between runs of iPi Recorder. But the value of settings profile does. So if you want to use filtering different from our Default profile permanently then you'll need to create your own profile. Currently you can do it by hand only by editing
iPiRecorder.RealSense2.Profiles.ini file in the installation folder of iPi Recorder. Either edit one of existing profiles or create a new section.
Below is the list of profile settings related to depth processing. In parentheses I put a dialog control which value corresponds to the setting. Checkboxes are stored as "True"/"False". Combo values are stored as zero-based indexes.
- Depth.VisualPreset (Depth Sensor > Advanced-Mode Preset). Actually it affects the input data coming from a sensor.
- Processing.Temporal.Enabled (Depth Processing > Temporal Filter > Enable)
- Processing.Temporal.FilterSmoothAlpha (Depth Processing > Temporal Filter > Normalized weight of current pixel)
- Processing.Temporal.FilterSmoothDelta (Depth Processing > Temporal Filter > Filter smooth delta)
- Processing.Temporal.HolesFill (Depth Processing > Temporal Filter > Persistency mode)
- Processing.Spatial.Enabled (Depth Processing > Spatial Filter > Enable)
- Processing.Spatial.FilterMagnitude (Depth Processing > Spatial Filter > Filtering iterations)
- Processing.Spatial.FilterSmoothAlpha (Depth Processing > Spatial Filter > Current pixel weight)
- Processing.Spatial.FilterSmoothDelta (Depth Processing > Spatial Filter > Convolution radius)
- Processing.Spatial.HolesFill (Depth Processing > Spatial Filter > Holes filling mode)
- Processing.Disparity.Enabled (Depth Processing > Filter in disparity space)