Retrieve pointcloud at different confidence thresholds

[m-zainkhawaja]

Hi, I would like to be able to retrieve two pointclouds after calling zed->grab. For one pointcloud, I would like to set the depth confidence threshold at 100%, including all points, and then retrieve a second pointcloud for the same data at a confidence threshold of 80%. My rough script with pseudocode is:

while(1){ zed->setConfidenceThreshold(100); zed->grab; cv::Mat pointcloud_1, pointcloud_2; // I have written it here, but I convert from sl::Mat to cv::Mat in the retrieve process. zed->retrieveMeasure(sl::zed::POINTCLOUD).copyTo(pointcloud_1); zed->setConfidenceThreshold(80); zed->retrieveMeasure(sl::zed::POINTCLOUD).copyTo(pointcloud_2); }

However, the pointcloud data seems to only be affected by the second confidence threshold. I dug around some of the include files by stereolabs and I think one of the comments mentioned having to clear the cpu buffer for multiple retrieveMeasures? Could you please clarify this and perhaps provide a bit of example code which I could use to solve my problem. Thanks!

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