Add RealSense post-processing filters to RSBagReader

[aekanman]

Add RealSense post-processing filters to RSBagReader

Type

• Bug fix (non-breaking change which fixes an issue): Fixes #
• New feature (non-breaking change which adds functionality). Resolves o3d.t.io.RSBagReader() with libRealSense Depth Post-Processing #6164
• Breaking change (fix or feature that would cause existing functionality to not work as expected) Resolves #

Motivation and Context

This adds libRealSense depth post-processing support to o3d.t.io.RSBagReader() playback.

RealSense bag playback already reads and aligns depth/color frames, but users could not apply the standard libRealSense depth filters during bag reading. This PR adds an ordered Python filters argument to RSBagReader.open() so depth post-processing can be configured before depth is aligned to color. This resolves #6164 by adding libRealSense depth post-processing support to o3d.t.io.RSBagReader() playback.

Checklist:

• I have run python util/check_style.py --apply to apply Open3D code style
  to my code.
• This PR changes Open3D behavior or adds new functionality.
  • Both C++ (Doxygen) and Python (Sphinx / Google style) documentation is
    updated accordingly.
  • I have added or updated C++ and / or Python unit tests OR included test
    results (e.g. screenshots or numbers) here.
• I will follow up and update the code if CI fails.
• For fork PRs, I have selected Allow edits from maintainers.

Description

Changes:

• Adds RSBagReader::Open(filename, filters) for ordered RealSense depth post-processing filters.
• Adds Python overload:
  reader.open(filename, {"decimation": {"filter_magnitude": 2}}).
• Supports decimation, spatial, temporal, and hole_filling.
• Supports common libRealSense options:
  filter_magnitude, filter_smooth_alpha, filter_smooth_delta, and holes_fill.
• Applies filters before aligning depth to the color frame.
• Validates unsupported filters/options before playback thread startup.
• Preserves filter configuration across EOF seek restart.
• Adds tutorial docs, changelog entry, and a software-only Python test using SampleL515Bag.

Test results:

PATH=/opt/anaconda3/lib/python3.12/site-packages/clang_format/data/bin:$PATH python util/check_style.py --no_parallel
# All files passed style check

git diff --check
# passed

python -m pytest python/test/t/io/test_realsense.py::test_RSBagReader_post_processing_filters -q
# 1 xpassed

python -m pytest python/test/t/io/test_realsense.py::test_RSBagReader -q
# 1 xfailed, matching the existing RealSense bag-reader test marker

[Copilot]

Pull request overview

Note

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Adds libRealSense depth post-processing support to o3d.t.io.RSBagReader() bag playback, allowing callers to configure an ordered filter chain (e.g., decimation/spatial/temporal/hole-filling) applied before depth-to-color alignment.

Changes:

• Add C++ RSBagReader::Open(filename, filters) API and apply configured filters during playback.
• Add Python RSBagReader.open(filename, filters_dict) overload with dict-to-filter-config conversion and updated docstrings.
• Add tutorial documentation, changelog entry, and a Python test covering the new behavior.

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
python/test/t/io/test_realsense.py	Adds a Python test exercising filter configuration during bag playback.
docs/tutorial/sensor/realsense.rst	Documents the new filters argument and supported filters/options.
cpp/pybind/t/io/sensor.cpp	Adds Python binding overload and dict→C++ filter config conversion.
cpp/open3d/t/io/sensor/realsense/RSBagReader.h	Introduces PostProcessingFilter config type and new Open() overload.
cpp/open3d/t/io/sensor/realsense/RSBagReader.cpp	Implements filter validation/creation and applies filters before alignment.
CHANGELOG.md	Notes the new RSBagReader depth post-processing feature.

[aekanman]

Hi @ssheorey I’ve addressed the Copilot review feedback in 06ef467.
Could you approve and run the workflows when convenient? The PR is also ready for maintainer review. Thank you!

[ssheorey]

Can you avoid or simplify this adapter by directly binding RSBagReader::PostProcessingFilter in python?

[ssheorey]

Hi @aekanman thanks for this PR. Looks good, other than that one comment above. Also, can you post comparative images? Say one screenshot with the hole filling filter tuned on, and one with it turned off), to demonstrate that the filter works. We can't test this PR in CI.