bilateral_filter_depth — 3D depth_denoise op

• Data kinds: depth → depth

• Call: import fullseye as fs; fs.ledger.bilateral_filter_depth(depth: 'np.ndarray', spatial_sigma: 'float', range_sigma: 'float', *, invalid: 'float | None' = 0.0, truncate: 'float' = 3.0) -> 'np.ndarray' (to call the implementation directly, import depth_bilateral; depth_bilateral.bilateral_filter_depth(depth: 'np.ndarray', spatial_sigma: 'float', range_sigma: 'float', *, invalid: 'float | None' = 0.0, truncate: 'float' = 3.0) -> 'np.ndarray'; from the registry, ops3d.get("bilateral_filter_depth"))

Usage

A bilateral filter for depth images (edge-preserving denoising). → float64 (H,W).

The range weight is built from differences of the depth itself. Invalid pixels (non-finite or sentinel=invalid) do not contribute as neighbours, and if the center is invalid it keeps its original value (filling holes is the job of fill_holes). spatial_sigma is in pixels, range_sigma in depth-value units (a step > range_sigma is not smoothed across, while noise with std < range_sigma is smoothed). With truncate=3 the Gaussian window radius = ceil(3*spatial_sigma).

Background guides (the physics and conventions behind this op)

• blender_interop — Using Blender alongside — build the shape, measure it with fullseye (pitfalls: axes, units, ground truth)

• depth_sensors — Depth sensors — ranging principles, real-device figures, how dropouts appear

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

Runnable examples (verified samples that actually call this op)

• depth_denoise — py -3.11 examples_3d/depth_denoise.py

Ops the type connects to (they accept depth as input)

depth_to_points · tsdf_from_depth · to_points · fuse_to_voxel · depth_to_organized_points · normals_from_depth · occlusion_edges · bearing_angle_image

Same category (depth_denoise)

joint_bilateral · fill_holes

*Provenance: depth_bilateral.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.