Caution

• After enabling filtering, only AMPLITITUD is default and exists. Other filters need to be added by calling AddFilter() and then setting the corresponding filter parameters!

Filtering Types Description

Amplitude Filter AMPLITITUD

Function:

• Reduce noise
• Improve measurement accuracy
• Enhance edges
• Improve depth image quality
• Optimize computational efficiency

Invocation:

Enabled by default after filtering is turned on, no need to add, cannot be deleted (setting the value to 0 is invalid).

Parameter Range:

paramData1 0~100 Recommended 6

Median Filter MEDIAN

Function:

• Error tolerance
• Resistance to outliers
• Interference resistance
• Adaptability to changes
• Fault tolerance capability

Invocation:

Needs to be added through AddFilter() and then set parameters

Parameter Range:

paramData1 3~5 Recommended 3

paramData2 1~5 Recommended 1

Edge Filter EDGE

Function:

• Refine the edges of the depth map
• Improve edge accuracy
• Remove noise and outliers
• Enhance the usability of the depth map
• Improve the visual effect of the depth map

Invocation:

Needs to be added through AddFilter() and then set parameters

Parameter Range:

paramData1 20~200 Recommended 50

Speckle Filter SPECKLE

Function:

• Improve image quality
• Enhance data usability
• Preserve structural information
• Improve measurement accuracy
• Enhance algorithm performance
• Adaptability
• Reduce data loss

Invocation:

Needs to be added through AddFilter() and then set parameters

Parameter Range:

paramData1 24~200 Recommended 40

paramData1 24~200 Recommended 100

IR Filter IR

Function:

• Enhance outdoor effects

Invocation:

Needs to be added through AddFilter() and then set parameters

Parameter Range:

paramData1 40~200 Recommended 64

Supported Devices:

CS40, CS40Pro

Filtering Invocation

Filtering Invocation Order

CS20: Median, Edge, Speckle, Median

CS30: Front-end built-in Median, Edge, Median, backend can add Speckle, Median filters.

Hardware Filtering Enable/Disable Description

After calling SetHardWareFilterMode to enable hardware filtering, the filtering will be processed internally in the module's CPU. When disabled, it will be processed on the upper computer. Currently, all products except CS20 support it.

Enabling hardware filtering may result in frame rate drops due to performance limitations of the module.

Example of Setting Filter Parameters

// Amplitude filter AMPLITITUD
float threshold_value{ 0 };
threshold_value[0] = 10;// amplititud_threshold
int num = 1;
SetFilterParam(nDeviceID, filterType, num , threshold_value);

// Median filter MEDIAN
threshold_value{ 0 };
threshold_value[0] = 3;// median_ksize
threshold_value[1] = 1;// median_iterations
num = 2;
SetFilterParam(nDeviceID, filterType, num , threshold_value);

// Edge filter EDGE
threshold_value{ 0 };
threshold_value[0] = 50;//edge_threshold
num = 1;
SetFilterParam(nDeviceID, filterType, num , threshold_value);

// Speckle filter SPECKLE
threshold_value{ 0 };
threshold_value[0] = 40;// speckle_size
threshold_value[1] = 100;// speckle_max_diff
num = 2;
SetFilterParam(nDeviceID, filterType, num , threshold_value);