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Creating Filters Directly
Orbbec Gemini 330 Series Documentation

Creating Filters Directly

Update on 2026-08-11 03:31:21

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1. Quick Start

Using ThresholdFilter as an example, complete post-processing in 3 steps:

#include <libobsensor/ObSensor.hpp>

 

// Step 1: Create the Filter

auto thresholdFilter = std::make_shared<ob::ThresholdFilter>();

 

// Step 2: Set parameters (keep depth values between 300mm and 3000mm)

thresholdFilter->setValueRange(300, 3000);

 

// Step 3: Process the frame (depthFrame comes from a FrameSet obtained via Pipeline)

auto outFrame = thresholdFilter->process(depthFrame);

if(outFrame) {

    auto processedDepth = outFrame->as<ob::DepthFrame>();

    // Use processedDepth ...

}

2. Chaining Multiple Filters

Multiple Filters can be chained together, passing the output of one Filter as the input to the next.

Chain Order (Depth Stream)

Format Conversion (FormatConvertFilter)

  → Downsampling (DecimationFilter)

    → Sequence Filtering (SequenceIdFilter)

      → Threshold Filtering (ThresholdFilter)

        → Noise Reduction (EdgeNoiseRemovalFilter/FalsePositiveFilter/

             MgcNoiseRemovalFilter/LutNoiseRemovalFilter)

          → Spatial Smoothing (SpatialAdvancedFilter/SpatialFastFilter/

                 SpatialModerateFilter)

            → Temporal Smoothing (TemporalFilter)

              → Hole Filling (HoleFillingFilter)

                → Software Alignment (Align)

                  → Point Cloud (PointCloudFilter)

⚠ Note: A slash (/) indicates optional alternatives within the same stage. Choose based on your device model and scenario requirements. Keep the relative order of Filters unchanged; reordering may produce unexpected results.

Code Example (threshold filtering → noise reduction → spatial smoothing → software alignment → point cloud):

auto thresholdFilter = std::make_shared<ob::ThresholdFilter>();

thresholdFilter->setValueRange(300, 3000);

thresholdFilter->enable(true);

 

auto edgeFilter = std::make_shared<ob::EdgeNoiseRemovalFilter>();

edgeFilter->enable(true);

 

auto spatialFilter = std::make_shared<ob::SpatialAdvancedFilter>();

spatialFilter->enable(true);

 

auto alignFilter = std::make_shared<ob::Align>(OB_STREAM_COLOR);

alignFilter->enable(true);

 

auto pointCloudFilter = std::make_shared<ob::PointCloudFilter>();

pointCloudFilter->setCreatePointFormat(OB_FORMAT_RGB_POINT);

pointCloudFilter->enable(true);

 

// Frame processing should be done in a separate thread. Do not call it directly in the frame acquisition or callback thread.

if(!frameSet) return;

auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH);

auto colorFrame = frameSet->getFrame(OB_FRAME_COLOR);

if(!depthFrame || !colorFrame) return;

 

std::shared_ptr<ob::Frame> outFrame = frameSet;

for(auto &filter : std::vector<std::shared_ptr<ob::Filter>>{

        thresholdFilter, edgeFilter, spatialFilter,

        alignFilter, pointCloudFilter}) {

    if(outFrame) {

        outFrame = filter->process(outFrame);

    }

}

// outFrame is the point cloud frame after the full processing chain

3. Other Common Interfaces

// Disable the Filter

filter->enable(false);

// Enable the Filter

filter->enable(true);

 

// Query whether the Filter is currently enabled

bool enabled = filter->isEnabled();

 

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