Sensor Specific Firmware Settings

Unique sensor firmware settings

ZED-X, ZED-XM and ZED-2i cameras

  • Camera ID : ZED GMSL hardware id of the sensor (ZED-X and ZED-XM)

  • Pub Downscale Factor : [0.2, 0.4, 0.6. 0.8, 1.0] - the factor by which depth and RGB data should be downsampled where 1.0 means no downsampling and 0.2 means 5x downsampling. This may be necessary to reduce bandwidth and computational load, especially if the camera is running with high Grab Resolution.

  • Grab Resolution : The resolution at which the camera should be grabbing data. Together with Pub Downscale Factor it affects the bandwidth and final resolution

  • Depth Mode : The depth mode of the device, PERFORMANCE, QUALITY, and ULTRA settings are stereovision based. NEURAL and NEURAL_PLUS modes are stereovision backed by neural network AI model. Neural modes are of higher quality but computationally intensive. NEURAL_PLUS has especially improved 3D data around edges compared to NEURAL. Computational constraints are especially important when working with multiple sensors. The NONE mode may be used if the sensor is intended to be used as a 2D sensor to avoid unnecessary computation.

  • Min Depth [m] : The minimal depth range to compute in meters. Available values depend on the sensor and lens used. With a wide lens for ZED-XM, the lowest value is 0.1 m; for ZED-X, the lowest possible setting is 0.2 m. The lower this value, the more computation and GPU memory are needed. For details on the sensor specifications, see https://www.stereolabs.com/products/zed-x

  • Max Depth [m] : the maximum depth range to compute in meters. For details on the sensor specifications, see https://www.stereolabs.com/products/zed-x

Orbbec Sensors (Femto Bolt, Gemini 335/336, 335L, 336L, ...)

  • Serial Number : serial number identifier of the device, mandatory when working with multiple sensors physically plugged to same host device (Cortex, SenseKit) to identify particular sensor

Orbbec Gemini 330 Sensors (Gemini 335/336, 335L, 336L, ...)

  • Short Range : enable short range mode supplying 3D data only to 0.5 m but with data available from closer distance. Automatically enables lower 640x360 depth resolution unless depth resolution is explicitly set. Minimum depth sensing range depends on depth resolution and can be found in Orbbec Gemini330 Series datasheets

Photoneo MotionCam-3d Color

  • Color Exposure: [0.32, 0.64, 1.28, 2.56, 5.12, 10.24, 14.336, 20.48, 24.576, 30.72, 34.816, 40.96, ...] the exposure time of colour sensor

  • Color ISO : [50, 100, 200, 400, ...] higher ISO -> brighter image at the cost of noise

  • Color Gamma : non-linear gamma correction

  • Color Resolution : ["Resolution_1288x730", "Resolution_1932x1096", "Resolution_3864x2192"], colour image resolution to use

  • LED Power : [0-4095] the LED white light intensity used for texture, may be decreased in case of overexposure

  • White Balance Preset : empty "" to leave as is or ["Tungsten (2500 - 4000K)", "Florescent (4000 - 5000K)", "Internal LED (5000 - 5500K)", "Daylight (5000 - 6500K)", "Cloudy (5000 - 6500K)", ...]

  • Depth Exposure : [10.24, 14.336, 20.48, 24.576, 30.72, 34.816, 40.96] - exposure time for laser

  • Laser Power : [0-4095] intensity of projected "red" light used for depth, decrease in case of overexposure

  • FPS : framerate of the sensor 3D and 2D data, sensor will typically not exceed 10 frames per second, using lower value may help in case of limited bandwidth

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