Confidence Threshold#
Using the Feature#
How It Works#
The camera calculates an internal confidence value between 0 and 65335 for every pixel. The more light is collected for a pixel, the higher the confidence value. With the ConfidenceThreshold
parameter you can specify that only pixels above a certain confidence value are included in the camera output. If the internal confidence value of a pixel doesn't pass the confidence threshold, the corresponding pixel position is represented in the various components like outlined in the following table:
Component | Representation of Pixels Below the Confidence Threshold |
---|---|
Range | For point clouds, i.e., the PixelFormat is set to Coord3D_ABC32f , all 3 coordinates of a pixel are set to the value specified by the Scan3dInvalidDataValue parameter.For depth maps, i.e., the PixelFormat is set to Coord3D_C16 or Mono16 , the depth value for a pixel is set to the value specified by the Scan3dInvalidDataValue parameter. |
Intensity | The confidence threshold has no effect on the Intensity component. There will always be intensity values for every pixel regardless of the confidence value. |
Confidence | Set to zero. |
Setting a Confidence Threshold#
You can specify a confidence threshold value between 0 and 65335. As conditions can vary a lot in different applications, there is no general guideline for choosing a value. Try experimenting with this parameter to see which setting delivers the best results, i.e., at which setting undesired parts of the image are removed.