Outlier Removal#

blaze 相机提供的 Outlier Removal 功能允许您删除与其本地环境显著不同的像素。

该功能的使用#

运作原理#

An internal algorithm determines whether a pixel's depth (measured in gray values of the depth 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.

With the OutlierRemovalThreshold parameter, you can specify the strength of the filter, i.e., the number of inliers (good data values) in a 3x3 neighborhood required to make a pixel an inlier und therefore to prerserve it. The higher the value, the more outliers will be removed.

即： OutlierRemovalTolerance parameter allows you to specify the tolerance of the filter. The lower the value, the more outliers are removed. With this parameter, you can specify the maximum permissible relative distance for a pixel to be classed as an inlier. Relative distance means the distance of a pixel to the center pixel. The lower the value, the more outliers are removed.

下图显示了图像中的无效数据，即离群值。在本示例中，离群值会在对象的远端产生锥形效果。在其他图像中，效果可能会有所不同。

下图显示了已删除离群值的图像。

离群值表示法#

离群值的表示因分量而异：

配置 Outlier Removal#

1. 设置 OutlierRemoval parameter to true.

2. 设置 OutlierRemovalThreshold parameter to the desired strength.
   

   信息

   在大多数情况下，使用 3 到 7 之间的值可获得最佳结果。

3. 设置 OutlierRemovalTolerance parameter to the desired tolerance.
   

   信息

   • 从较高的值（例如 50）开始，如有必要，减小该值，直到离群值被充分抑制。
   • 不要进一步减小该值，以免删除有效数据。