The optimal order for filtering and the effect of the order

[ryo-matsuzaka]

Hi,
I have a question about point cloud filtering methods provided by intel.
There are 4 types of filtering;

• Decimation filter
• Spatial Edge-Preserving filter
• Temporal filter
• Holes Filling filter

Is there any good practice for the order when applying filters?
For example, the order 1 "Decimation filter -> Spatial Edge-Preserving filter -> Temporal filter -> Holes Filling filter" is better than order 2 "Spatial Edge-Preserving filter -> Decimation filter -> Temporal filter -> Holes Filling filter"?

Reference

• https://dev.intelrealsense.com/docs/post-processing-filters
• https://github.com/IntelRealSense/librealsense/tree/master/examples/post-processing

[MartyG-RealSense]

Hi @ryo-matsuzaka Intel list a recommended order for applying the filters in the section of their post-processing guide linked to below.

https://dev.intelrealsense.com/docs/post-processing-filters#using-filters-in-application-code

Decimation Filter
Depth2Disparity Transform
Spatial Filter
Temporal Filter
Disparity2Depth Transform
Hole Filling Filter
Filtered Depth

Decimation should always be first in the order.

So in terms of the selection of filters that you listed, it would go like this:

Decimation Filter
Spatial Filter
Temporal Filter
Hole Filling Filter

[ryo-matsuzaka]

@MartyG-RealSense
Thank you very much for your quick response! I got it. Sorry I missed the description... I found it in the same time you answered. I should have read the document thoroughly.

[MartyG-RealSense]

It's no trouble at all :)