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CONFIDENCE VALUES
Stencil 2 produces two confidence values. The Mapping confidence value provides an indication
of how the incoming scans are registered with both the apriori map as well as the new map data
being generated during scanning. The Localization confidence value provides an indication of
how the incoming scans are registered to the apriori map only. Below is an image of the
Confidence Plot during a short run while in localization mode.
The plot will self-scale as it runs. Values above 20,000 yield reasonable results. The parameter file
contains a mapping confidence threshold parameter that can be set below which Stencil 2 will
reject scan data. This parameter should be used carefully as setting the mapping confidence
threshold too high could cause Stencil to stop registering against the data collected so far and
start a new map segment. This can always be adjusted in the replay parameters as needed to
produce better results. Usually best to leave the threshold at 0 for live scanning.
This mapping confidence parameter stored in the trajectory.ply file is also used in the Loop
Closure Tool to control how data is added/registered to the map when generating the loop
closed map. See the Loop Closure Tool for more details on this usage of the confidence
parameter.
The blue line in the Mapping Plot window is the value of the active confidenceThreshold
parameter (default is 0). The localization confidence values are only published by Stencil 2 in live
scanning and replay and are not used recorded or used by any of the post-processing tools.
You can change the settings by clicking on the gear icon and then double clicking on the plot you
want to change. If you change a setting you should change it for all three plots.
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