How to replace 0 in depth map with farthest from around?

izumi

As described here, the invalid depth values are set to 0. I want to replace these values(0) with values which is farthest from around like this. I try to find a similar thing in depthai, but I couldn't yet.
If this question is duplicated really sorry but any advice would helpful.
Thank you.

erik

Hi izumi ,
I would suggest checking depth postprocessing example - specifically Spatial filter. And these filters run on the device itself as well🙂!
Thanks, Erik

izumi

Hi @erik ,
Thank you for sharing your insight and sorry for my unclear post.
What I want to achieve is filling all 0 values with farthest value (or nearest value) of neighbors like this way.
I've tried the example but still there seems to be 0 values in depth map.
As you pointed out, spatial filter is explained "Spatial Edge-Preserving Filter will fill invalid depth pixels with valid neighboring depth pixels.". But if I understand linked paper correctly, this spatial filter is not trying to fill 0 values. This spatial filter(edge-aware image processing) is trying to achieve smoothing image with edges.
Do you have any idea to fill all 0 values with farthest value (or nearest value) of neighbors?
Any advice would be helpful.
Thank you!

erik

Hi izumi ,
Actually the 0 value is invalid pixel - meaning the spatial filter will try to fill the 0 values. In some cases, where holes are too large, it won't be able to fill everything though. There are also different settings for the filter you could try out. Thoughts?
Thanks, Erik

izumi

Hi erik ,
Thank you for reply. Let me confirm my understanding Depthai's Spatial filter is equivalent with Realsense Spatial filter. But Realsense has another filter which is named Hole filling filter and this is what I want to do. So do Depthai have this feature?
Thank you!