Outlier Removal

The Outlier Removal feature available on blaze-101 cameras allows you to remove pixels that differ significantly from their local environment.

An internal algorithm determines whether a pixel's depth (measured in gray values of the range map) differs too much from the depth of its neighboring pixels. Pixels identified as differing too much are called outliers and will be classed as invalid.

By enabling the OutlierRemoval parameter, these outliers will be removed from the output. The representation of outliers varies by component:

Component	Representation of Outliers
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 outlier removal has no effect on the Intensity component. No pixel data will be removed as a result of specifying a confidence threshold.
Confidence	Set to zero.