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Filter the input image using a bilateral filter. Wikipedia: The intensity value at each pixel in an image is replaced by a weighted average of intensity values from nearby pixels. This weight can be based on a Gaussian distribution. Crucially, the weights depend not only on Euclidean distance of pixels, but also on the radiometric differences. For example, the range difference such as color intensity, depth distance, etc. This preserves sharp edges by systematically looping through each pixel and adjusting weights to the adjacent pixels accordingly.