Sensor Specific Firmware Settings

Unique sensor firmware settings

User may setup firmware settings during initial device connection in AMAS or afterwards.

See SenseKit Addition and Configuration for the details.

Modifying firmware settings always requires reboot afterwards.

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