The confidence image

The confidence image is accessible as part of the data streamed from the O3R device. This image contains information about the validity of each pixel. If a pixel is invalid, the confidence image explains why is has been marked as invalid. The values are as follows:

• 1: CONF_INVALID - indicates that the pixel is invalid;

• 2: CONF_SATURATED - the pixel is overexposed/saturated;

• 4: CONF_BADAMBSYM - the pixel had bad symmetry, probably because of motion (see symmetry threshold);

• 8: CONF_LOWAMP - amplitude lower than the minimum amplitude, or distance noise threshold exceeded;

• (16|32): CONF_EXPINDEX - indicates whether the short, medium or long exposure is used for this pixel: expIndex = (v & CONF_EXPINDEX) >> 4 indicates the index of the exposure time used by this pixel where low indices indicate shorter exposures;

• 64: CONF_INVALID_RANGE - the pixel is outside of the measurement range;

• 128: CONF_SUSPECT_PIXEL - this is a bad pixel on the chip;

• 256: RESERVED

• 512: CONF_EDGEPIXEL or CONF_ISOLATED - edge pixels refer to the image edges which are sometimes invalidated by lateral filters, an isolated pixel is a pixel with random amplitude in an area where no amplitude is measured;

• 1024: CONF_UNPLAUSIBLE - pixels remaining after shifting the offset, between the camera and the beginning of the shifted range;

• 2048: CONF_REFLECTIVITY - the reflectivity is below the threshold;

• 4096: CONF_DYNAMIC_AMPLITUDE - the pixel is probably part of the halo around a very bright object (see the stray-light filter);

• 16384: CONF_MIXEDPIXEL - the pixel is a mixed pixel, part of which is measuring the object and the other part the background;

• 32768: CROSSTALK: the pixel is invalidated because of detected interference from other sources.