Depth data filtering method and apparatus, electronic device, and readable storage medium

An electronic device, comprising an image sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the image sensor is electrically connected to the processor, and the program, when executed by the processor, implements a depth data filtering method, comprising:

• obtaining, for each pixel, a depth difference value between two consecutive frames of depth maps;
• marking an area formed by respective pixels as a first environment change area, the depth difference value of the pixels being smaller than a predetermined absolute depth deviation;
• marking an area formed by pixels as a second environment change area, the depth difference value of the pixels being greater than or equal to the predetermined absolute depth deviation;
• generating a first similarity weight corresponding to each pixel in the first environment change area based on the depth difference value, an enlarged predetermined original smoothing coefficient, and a pixel depth deviation value of a current frame;
• generating a second similarity weight corresponding to each pixel in the second environment change area based on the depth difference value, a reduced predetermined original smoothing coefficient, and the pixel depth deviation value of the current frame;
• and
• filtering the first environment change area based on the first similarity weight and filtering the second environment change area based on the second similarity weight.

A non-transitory computer-readable storage medium, comprising a computer program stored thereon, wherein the computer program, when executed by a processor, implements a depth data filtering method comprising:

• obtaining, for each pixel, a depth difference value between two consecutive frames of depth maps for each pixel;
• marking an area formed by pixels as a first environment change area, the depth difference value of the pixels being smaller than a predetermined absolute depth deviation;
• marking an area formed by respective pixels as a second environment change area, the depth difference value of the pixels being greater than or equal to the predetermined absolute depth deviation;
• generating a first similarity weight corresponding to each pixel in the first environment change area based on the depth difference value, an enlarged predetermined original smoothing coefficient, and a pixel depth deviation value of a current frame;
• generating a second similarity weight corresponding to each pixel in the second environment change area based on the depth difference value, a reduced predetermined original smoothing coefficient, and the pixel depth deviation value of the current frame;
• and
• filtering the first environment change area based on the first similarity weight and filtering the second environment change area based on the second similarity weight.