{"action":"created","issue":{"url":"https://api.github.com/repos/intel-ros/realsense/issues/106","repository_url":"https://api.github.com/repos/intel-ros/realsense","labels_url":"https://api.github.com/repos/intel-ros/realsense/issues/106/labels{/name}","comments_url":"https://api.github.com/repos/intel-ros/realsense/issues/106/comments","events_url":"https://api.github.com/repos/intel-ros/realsense/issues/106/events","html_url":"https://github.com/intel-ros/realsense/issues/106","id":176668564,"number":106,"title":"[Feature request] Expose the apply_depth_control_preset function","user":{"login":"I0x0I","id":7988312,"avatar_url":"https://avatars.githubusercontent.com/u/7988312?v=3","gravatar_id":"","url":"https://api.github.com/users/I0x0I","html_url":"https://github.com/I0x0I","followers_url":"https://api.github.com/users/I0x0I/followers","following_url":"https://api.github.com/users/I0x0I/following{/other_user}","gists_url":"https://api.github.com/users/I0x0I/gists{/gist_id}","starred_url":"https://api.github.com/users/I0x0I/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/I0x0I/subscriptions","organizations_url":"https://api.github.com/users/I0x0I/orgs","repos_url":"https://api.github.com/users/I0x0I/repos","events_url":"https://api.github.com/users/I0x0I/events{/privacy}","received_events_url":"https://api.github.com/users/I0x0I/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/intel-ros/realsense/labels/enhancement","name":"enhancement","color":"84b6eb"}],"state":"open","locked":false,"assignee":{"login":"reaganlo","id":12738189,"avatar_url":"https://avatars.githubusercontent.com/u/12738189?v=3","gravatar_id":"","url":"https://api.github.com/users/reaganlo","html_url":"https://github.com/reaganlo","followers_url":"https://api.github.com/users/reaganlo/followers","following_url":"https://api.github.com/users/reaganlo/following{/other_user}","gists_url":"https://api.github.com/users/reaganlo/gists{/gist_id}","starred_url":"https://api.github.com/users/reaganlo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/reaganlo/subscriptions","organizations_url":"https://api.github.com/users/reaganlo/orgs","repos_url":"https://api.github.com/users/reaganlo/repos","events_url":"https://api.github.com/users/reaganlo/events{/privacy}","received_events_url":"https://api.github.com/users/reaganlo/received_events","type":"User","site_admin":false},"assignees":[{"login":"reaganlo","id":12738189,"avatar_url":"https://avatars.githubusercontent.com/u/12738189?v=3","gravatar_id":"","url":"https://api.github.com/users/reaganlo","html_url":"https://github.com/reaganlo","followers_url":"https://api.github.com/users/reaganlo/followers","following_url":"https://api.github.com/users/reaganlo/following{/other_user}","gists_url":"https://api.github.com/users/reaganlo/gists{/gist_id}","starred_url":"https://api.github.com/users/reaganlo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/reaganlo/subscriptions","organizations_url":"https://api.github.com/users/reaganlo/orgs","repos_url":"https://api.github.com/users/reaganlo/repos","events_url":"https://api.github.com/users/reaganlo/events{/privacy}","received_events_url":"https://api.github.com/users/reaganlo/received_events","type":"User","site_admin":false}],"milestone":null,"comments":5,"created_at":"2016-09-13T15:13:57Z","updated_at":"2016-09-22T22:21:56Z","closed_at":null,"body":"Hi everyone, as mentioned in #50, using the default settings of R200 may produce a noisy depth image, the [ds-private.cpp](https://github.com/IntelRealSense/librealsense/blob/22155fdd2a4f20c2736285a753ce8b1059031e10/src/ds-private.cpp) shows the default settings are actually optimized for outdoor scenario.\r\n\r\n>         const dc_params dc_params::presets[] = {\r\n            {5, 5, 192,  1,  512, 6, 24, 27,  7,   24}, // (DEFAULT) Default settings on chip. Similiar to the medium setting and best for outdoors.\r\n            {5, 5,   0,  0, 1023, 0,  0,  0,  0, 2047}, // (OFF) Disable almost all hardware-based outlier removal\r\n            {5, 5, 115,  1,  512, 6, 18, 25,  3,   24}, // (LOW) Provide a depthmap with a lower number of outliers removed, which has minimal false negatives.\r\n            {5, 5, 185,  5,  505, 6, 35, 45, 45,   14}, // (MEDIUM) Provide a depthmap with a medium number of outliers removed, which has balanced approach.\r\n            {5, 5, 175, 24,  430, 6, 48, 47, 24,   12}, // (OPTIMIZED) Provide a depthmap with a medium/high number of outliers removed. Derived from an optimization function.\r\n            {5, 5, 235, 27,  420, 8, 80, 70, 90,   12}, // (HIGH) Provide a depthmap with a higher number of outliers removed, which has minimal false positives.\r\n        };\r\n\r\nBy using the `apply_depth_control_preset` function from the [rs.hpp](https://github.com/IntelRealSense/librealsense/blob/22155fdd2a4f20c2736285a753ce8b1059031e10/include/librealsense/rs.hpp) to set the R200 works in HIGH mode, I can clearly see a reduce of noise points in the depth image.\r\nSo exposing the `apply_depth_control_preset` function in the ROS node is likely to solve the problem ;-)"},"comment":{"url":"https://api.github.com/repos/intel-ros/realsense/issues/comments/249045408","html_url":"https://github.com/intel-ros/realsense/issues/106#issuecomment-249045408","issue_url":"https://api.github.com/repos/intel-ros/realsense/issues/106","id":249045408,"user":{"login":"mdhorn","id":12535259,"avatar_url":"https://avatars.githubusercontent.com/u/12535259?v=3","gravatar_id":"","url":"https://api.github.com/users/mdhorn","html_url":"https://github.com/mdhorn","followers_url":"https://api.github.com/users/mdhorn/followers","following_url":"https://api.github.com/users/mdhorn/following{/other_user}","gists_url":"https://api.github.com/users/mdhorn/gists{/gist_id}","starred_url":"https://api.github.com/users/mdhorn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mdhorn/subscriptions","organizations_url":"https://api.github.com/users/mdhorn/orgs","repos_url":"https://api.github.com/users/mdhorn/repos","events_url":"https://api.github.com/users/mdhorn/events{/privacy}","received_events_url":"https://api.github.com/users/mdhorn/received_events","type":"User","site_admin":false},"created_at":"2016-09-22T22:21:56Z","updated_at":"2016-09-22T22:21:56Z","body":"This will be include in the upcoming 1.5.0 release."}}
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