diff --git a/components/rgbd-sources/src/offilter.cpp b/components/rgbd-sources/src/offilter.cpp
index e3218b23f4380f2f949aaec3e5165ac397975317..b74ff3ce32d8e5400692f73c09b906fb048d4920 100644
--- a/components/rgbd-sources/src/offilter.cpp
+++ b/components/rgbd-sources/src/offilter.cpp
@@ -9,7 +9,7 @@ using cv::Size;
 
 using std::vector;
 
-template<typename T> static bool inline isValidDisparity(T d) { return true; }
+template<typename T> static bool inline isValidDisparity(T d) { return (0.0 < d) && (d < 256.0); } // TODO
 
 OFDisparityFilter::OFDisparityFilter(Size size, int n_frames, float threshold) :
 	n_(0), n_max_(n_frames), threshold_(threshold), size_(size)