• 3D point cloud: X, Y and Z values for every pixel result in a point cloud of the observed scene.
  • Gray value: In addition to the Z value, every pixel provides a gray value, which represents the signal strength (amplitude) of the active illumination, so this is an IR gray value image. It can be used for standard 2D image processing and it is perfectly aligned to the depth image. It is also not affected by background light so it is a very robust 2D image in every light condition. This data also directly corresponds to the depth data quality so it gives a performance indication for the depth data.
  • Confidence value: This value provides information whether the pixel measured a valid 3D value or whether the 3D data is not reliable due to saturation, underexposure or other reasons.
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