There was never an official emboss filter. There was a user-created add-on in this old thread, but I do not know if it still works (try the oldest/last-posted version):
I eventually included most of the add-on filters in this thread after addressing various issues but not Emboss for some reason. Maybe there was a problem with it, and I did not want to debug it only to add some effect that too many users will complain that it makes their video all gray.