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  • ImageFilters
  • How to place it
  • Inputs and Outputs
  • Basic usage
  • Presets
  • Filter parameters
  • Notes
  • Recommendation for StereoDepth (non‑ToF)
  • Examples of functionality
  • Reference

ImageFilters

ImageFilters applies an ordered pipeline of post‑processing filters to depth‑like grayscale images (RAW8/RAW16). It is currently most useful for ToF depth pipelines and for replaying depth on the host. The node provides median, spatial, speckle, and temporal filtering in a single place. If no filters are configured, it acts as a passthrough.For standard live StereoDepth pipelines, prefer using the built‑in StereoDepthConfig.PostProcessing instead of this node (see Notes).

How to place it

Python
C++

Python

Python
1with dai.Pipeline() as pipeline:
2    imageFilters = pipeline.create(dai.node.ImageFilters)

Inputs and Outputs

React Flow
Additional port:
  • inputConfig — accepts ImageFiltersConfig messages for runtime configuration

Basic usage

Filter a StereoDepth disparity stream with a single filter:
Python
C++

Python

Python
1with dai.Pipeline() as p:
2    left = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
3    right = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
4    outL = left.requestOutput((640, 400), fps=20)
5    outR = right.requestOutput((640, 400), fps=20)
6
7    stereo = p.create(dai.node.StereoDepth)
8    outL.link(stereo.left)
9    outR.link(stereo.right)
10
11    filters = p.create(dai.node.ImageFilters)
12    filters.setRunOnHost(True)  # Required on RVC2
13    filters.build(stereo.disparity)  # build without preset
14
15    # Single Spatial filter enabled (all other params default)
16    spatial = dai.node.ImageFilters.SpatialFilterParams()
17    spatial.enable = True
18    filters.initialConfig.filterParams = [spatial]

Presets

dai::ImageFiltersPresetMode / dai.ImageFiltersPresetMode (currently ToF‑tuned presets only):
  • TOF_LOW_RANGE — stronger temporal + spatial smoothing for ~0.2–2 m
  • TOF_MID_RANGE — balanced defaults for ~0.2–5 m
  • TOF_HIGH_RANGE — aggressive persistence + median for longer ranges
Notes:
  • These presets are named and tuned for ToF usage and are optional.
  • For general StereoDepth pipelines, prefer defining a custom pipeline (see Basic usage) and adjust parameters to your scene.

Filter parameters

Available parameter types (same models as StereoDepth post‑processing):
  • MedianFilterParams — MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5
  • SpatialFilterParams — enable, holeFillingRadius, alpha, delta, numIterations
  • SpeckleFilterParams — enable, speckleRange, differenceThreshold
  • TemporalFilterParams — enable, persistencyMode, alpha, delta

Notes

  • Supported input types: RAW8 and RAW16 only.
  • Median kernel up to 5×5 in this node (7×7 is not accepted).
  • On RVC2, device execution is not supported; call setRunOnHost(True).
  • If no filters are configured, the node acts as a passthrough.

Recommendation for StereoDepth (non‑ToF)

If you are using live StereoDepth, rely on its built‑in post‑processing and keep temporal filtering conservative or disabled. Example (Python):
Python

Python

Python
1stereo = p.create(dai.node.StereoDepth)
2# … link left/right …
3stereo.initialConfig.postProcessing.temporalFilter.enable = False
4stereo.initialConfig.postProcessing.temporalFilter.delta = 100

Examples of functionality

Reference

class

dai::node::ImageFilters

variable
std::shared_ptr< ImageFiltersConfig > initialConfig
Initial config for image filters.
variable
Node::Input input
Input for image frames to be filtered
variable
Node::Output output
Filtered frame
variable
Node::Input inputConfig
Config to be set for a specific filter
function
std::shared_ptr< ImageFilters > build(Node::Output & input, ImageFiltersPresetMode presetMode)
Build the node.
Parameters
  • input: Input for image frames to be filtered
  • presetMode: Preset mode for image filters
Returns
Shared pointer to the node
function
std::shared_ptr< ImageFilters > build(ImageFiltersPresetMode presetMode)
Build the node.
Parameters
  • presetMode: Preset mode for image filters
Returns
Shared pointer to the node
function
void run()
function
void setRunOnHost(bool runOnHost)
Specify whether to run on host or device By default, the node will run on device.
function
bool runOnHost()
Check if the node is set to run on host
function
void setDefaultProfilePreset(ImageFiltersPresetMode mode)
Set default profile preset for ImageFilters.
Parameters
inline function
DeviceNodeCRTP()
inline function
DeviceNodeCRTP(const std::shared_ptr< Device > & device)
inline function
DeviceNodeCRTP(std::unique_ptr< Properties > props)
inline function
DeviceNodeCRTP(std::unique_ptr< Properties > props, bool confMode)
inline function
DeviceNodeCRTP(const std::shared_ptr< Device > & device, std::unique_ptr< Properties > props, bool confMode)

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