OrbbecSDK_v2

EnhancedDepthFilter

Overview

The LingBot Enhanced Depth Filter (EnhancedDepthFilter) uses color and depth information to improve depth quality by reducing noise, filling depth holes, and refining object edges. The filter is supported by both OrbbecViewer and OrbbecSDK.

• LingBot Enhanced Depth Filter

Requirements

• NVIDIA Jetson running JetPack 6.2 (Linux ARM64);
• a supported Gemini 330 series camera with a valid LingBot-Depth License;
• CUDA Runtime 12;
• TensorRT 10.3 Runtime;
• the EnhancedDepthFilter extension and matching model.sm4 from the same OrbbecSDK release.

The filter requires a frameset containing Color and Depth frames after D2C alignment. Both software D2C and hardware D2C are supported.

Supported configurations:

• D2C target resolution: 640x480, 1280x720, or 1280x800;
• color format: RGB;
• depth format: Y10, Y11, Y12, Y14, Y16, or Z16.

License

EnhancedDepthFilter requires a valid LingBot-Depth License. For LicenseTool downloads, License applications, and device activation, see:

• orbbec/LingBot-Depth-LicenseTool

Model Deployment

Download model.sm4. Use the model file published for the same version as OrbbecSDK or OrbbecViewer. GitHub-generated source code archives do not include the model file.

OrbbecViewer and OrbbecSDK use different default model locations.

OrbbecViewer resolves the following path relative to its executable directory:

<OrbbecViewer executable directory>/extensions/filters/enhanced_depth_filter/model.sm4

OrbbecSDK loads the model from the directory containing the EnhancedDepthFilter shared library by default:

<EnhancedDepthFilter shared library directory>/model.sm4

In the standard SDK release layout, the shared library and model are located in extensions/filters/enhanced_depth_filter/. An application can also specify the model path explicitly when creating ob::EnhancedDepthFilter.

Keep OrbbecViewer or OrbbecSDK, the filter extension, and model.sm4 from the same release.

Use in OrbbecViewer

1. Start OrbbecViewer on NVIDIA Jetson/Linux ARM64 and connect a camera with a valid LingBot-Depth License.
2. Enable the Color and Depth streams.
3. Enable software D2C or hardware D2C alignment.
4. Select a supported stream configuration. For initial verification, use Color 640x480 RGB and Depth 640x480 Y16.
5. Select Advanced in the left navigation bar and open the Point Cloud page.
6. Turn on the dedicated Enhanced Depth Filter switch.
7. Wait for the filter to finish initializing.

To use a different model path, update the OrbbecViewer config.ini file:

[EnhancedDepthFilter]
ModelPath=extensions/filters/enhanced_depth_filter/model.sm4

A relative path is resolved from the OrbbecViewer executable directory. An absolute path can also be used.

Use with OrbbecSDK

The complete C++ Sample demonstrates device authorization checks, stream configuration, D2C alignment, filter creation, and frame processing:

• Enhanced Depth Filter C++ Sample

Troubleshooting

Symptom	Recommended action
Enhanced Depth Filter is unavailable	Confirm that OrbbecViewer is running on NVIDIA Jetson/Linux ARM64 and that the camera supports License authorization
LicenseInfo is missing is displayed	Use LicenseTool to apply for and activate a License on the camera
model.sm4 cannot be found	Check the model file location and the ModelPath setting
The stream configuration is not supported	Verify the feature first with Color 640x480 RGB and Depth 640x480 Y16
D2C is required	Enable software D2C or hardware D2C alignment
Filter initialization fails	Check the runtime environment, License, model, and stream configuration

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