fill_holes — 3D depth_denoise op

• Data kinds: depth → depth

• Call: import fullseye as fs; fs.ledger.fill_holes(depth: 'np.ndarray', max_radius: 'float', *, invalid: 'float | None' = 0.0, max_iter: 'int | None' = None, rel_tol: 'float' = 1e-06) -> 'np.ndarray' (to call the implementation directly, import depth_bilateral; depth_bilateral.fill_holes(depth: 'np.ndarray', max_radius: 'float', *, invalid: 'float | None' = 0.0, max_iter: 'int | None' = None, rel_tol: 'float' = 1e-06) -> 'np.ndarray'; from the registry, ops3d.get("fill_holes"))

Usage

Interpolate invalid pixels (holes) from their valid neighbours by harmonic (Laplace) relaxation. → float64 (H,W).

A hole pixel is interpolated if its distance to the nearest valid pixel is at most max_radius; deeper holes beyond that are not interpolated and stay NaN (fail-closed). Interpolation iterates the 4-neighbourhood mean (Dirichlet boundary = the original valid pixels); a linear field (plane) is a fixed point of discrete harmonic functions, so as the iteration converges the plane is recovered exactly. The initial value is the nearest valid pixel value (EDT).

The default of max_iter is set automatically from the hole size; rel_tol is a convergence criterion relative to the depth scale. An input with all pixels invalid has no foothold for interpolation and raises ValueError (fail-closed).

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)

bilateral_filter_depth · joint_bilateral

*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.