Shadow merges with object in point cloud depth sensing

In both images above, the shadows “merge” with the cube that I am trying to depth sense with. If I add more lighting, there will always be a smaller shadow else where and “merge” with the cube. What is the best environment to take a “depth sense”/“point cloud” with or is there a camera parameter I can change to deal with shadows better? (I am using python currently)
MyPointCloud.ply (2.6 MB)
The above download is the .ply file for the point cloud of my cube on a table with the natural office lighting.

Hi @Flocker
you can try to tune the confidence_threshold to remove from the point cloud the values with low confidence: