where is parameter descriptions ??

[noodle875]

hi, guys.
I have a question about the Viewer's options parameters.
could you write about description for that?
please, I have to work with this parameters but I couldn't find short details about these options.
if you have a document related with this, please give me I will give you my email address.
help me.

Emitter Enabled
Enable Auto Exposure
Exposure
Gain
Laser Power
Asic Temperature
Error Polling Enabled
Output Trigger Enabled
Depth Units
Stereo Baseline
Inter Cam Sync Mode
Emitter On Off
Global Time Enabled
Emitter Always on
Hdr Enabled
Sequence Name
Sequence Size
Sequence Id
Auto Exposure Limit
Auto Gain Limit
Auto Exposure Limit Toggle
Auto Gain Limit Toggle
DS Second Peak Threshold
DS Neighbor Threshold
DS Median Threshold
Estimate Median Increment
Estimate Median Decrement
Score Minimum Threshold
Score Maximum Threshold
DS LR Threshold
Texture Count Threshold
Texture Difference Threshold
RSM Bypass
Disparity Difference Threshold
SLO RAU Difference Threshold
Remove Threshold
Min West
Min East
Min WE Sum
Min North
Min South
Min NS Sum
U Shrink
V Shrink
Disable SAD Color
Disble RAU Color
Disable SLO Right Color
Disable SLO Left Color
Disable SAD Normalize
Diff Threshold Red
Diff Threshold Green
Diff Threshold Blue
K1 Penalty
K2 Penalty
K1 Penalty Mod1
K1 Penalty Mod2
K2 Penalty Mod1
K2 Penalty Mod2
HDAD
Ignore SAD
AD Lambda
Census Lambda
Color Correction
Color Correction 1
Color Correction 2
Color Correction 3
Color Correction 4
Color Correction 5
Color Correction 6
Color Correction 7
Color Correction 8
Color Correction 9
Color Correction 10
Color Correction 11
Color Correction 12
Depth Table
Depth Units
Depth Clamp Min
Depth Clamp Max
Disparity Mode
Disparity Shift
AE Control
Mean Intensity Set Point
Census Enable Reg
u-Diameter
v-Diameter
Disparity Modulation
A Factor
Depth Visualization
Visual Preset
Color Scheme
Histogram Equalization Enabled
Min Distance
Max Distance
Post-Processing
Decimation Filter
Filter Magnitude
HDR Merge
Filter By Sequence id
Sequence Id
Threshold Filter
Min Distance
Max Distance
Depth to Disparity
Spatial Filter
Filter Magnitude
Filter Smooth Alpha
Filter Smooth Delta
Holes filling mode
Temporal Filter
Filter Smooth Alpha
Filter Smooth Delta
Persistency mode
Hole Filling Filter
Hole Filling mode
Disparity to Depth
Available Streams
Color
Enable Auto Exposure
Controls
Exposure
Gain
Power Line Frequency
Auto Exposure Priority
Global Time Enabled
Backlight Compensation
Brightness
Contrast
Gamma
Hue
Saturation
Sharpness
Enable Auto White Balance
White Balance
Post-Processing
Decimation Filter
Filter Magnitude
Face Detection : OpenVIVO
Motion Module
Available Streams
Accel
Format
Gyro
Format
Controls
Enable Motion Correction
Global Time Enabled

thank you.
I want to know one line description or meaning about per each parameter.

[MartyG-RealSense]

Hi @noodle875 The Advanced Controls parameters are not documented. This is because they interact with each other in complex ways and so Intel control them with machine learning algorithms. RealSense users are welcome to perform experimentation with these settings though to see how changes to them affect the image.

For the options in the Viewer that do have a short description, you can display it as hover-text by moving the mouse cursor over the ? question-mark icon next to an option. For options that do not have a question-mark option, moving the cursor over the option name itself - such as Auto Exposure Priority - may display a hover-text description of that option.

For options that do not have a clear description, you can find out more about them in the Intel white-paper guides at the link below.

https://dev.intelrealsense.com/docs/whitepapers

General basic topics such as exposure are covered in the camera tuning guide:

https://dev.intelrealsense.com/docs/tuning-depth-cameras-for-best-performance

There is also a PDF user guide for the RealSense Viewer, though it only covers options in the Viewer during 2018 and not ones implemented later.

https://www.intel.com/content/www/us/en/support/articles/000028593/emerging-technologies/intel-realsense-technology.html

---

In regard to papers covering other options in your list:

Sequence ID:
https://dev.intelrealsense.com/docs/high-dynamic-range-with-stereoscopic-depth-cameras

Post-processing filters:
https://dev.intelrealsense.com/docs/depth-post-processing

A-Factor:
https://dev.intelrealsense.com/docs/white-paper-subpixel-linearity-improvement-for-intel-realsense-depth-cameras

IMU (accel and gyro):
https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/

Global time:
#3909

[noodle875]

Hi, MartyG-RealSense
Thanks to you, I was able to see some helpful resources.

but I have to know about each parameters that the Viewer provides.
would you recommend any book related with image processing for that?

[MartyG-RealSense]

There is an explanation at #10608 (comment) about the Texture Count Threshold and Texture Difference Threshold Advanced Mode parameters.

There is no further documentation or books though about the purpose of Advanced Mode parameters, unfortunately.

[Mytttttttt]

这是来自QQ邮箱的假期自动回复邮件。你好，我最近正在休假中，无法亲自回复你的邮件。我将在假期结束后，尽快给你回复。

[iamchoking]

I know this is an old post, but I want to revive this discussion.
These parameters aren't latent vectors for some machine learning algorithms, these are actual parameters coded with intent.
There must be an explanation behind each of those parameters. Or, at least a person who implemented this in the firmware / SDK / viewer must know.

[MartyG-RealSense]

Hi @iamchoking The situation with Advanced Mode options remains the same. Their functions are undocumented, and they can be experimented with by RealSense users but most of these options can safely be ignored and left on their default settings without any negative consequences for the user.

[iamchoking]

So, what happened to the people that implemented these parameters?
Or, are there any references that prompted these parameters to be implemented?

[MartyG-RealSense]

I cannot comment on the status of RealSense team members, unfortunately.

The original official documentation for Advanced Mode that was written at the time of the RealSense 400 Series' launch in 2017 can be found at the link below, though it does not provide information about specific parameters and emphasizes that Advanced Mode is intended to be used for trial-and-error experimentation by advanced-level users.

https://github.com/IntelRealSense/librealsense/blob/master/doc/rs400/rs400_advanced_mode.md

[iamchoking]

Thanks for the official documentation.

I am not asking for any specific team member's status. I am asking if there exists a member in the Realsense team that knows what these parameters actually mean.

[MartyG-RealSense]

Yes, the development team will know what they mean. Like I did at #11225 (comment) above, I would be happy to submit a query to my colleagues about one or two specific parameters, but a full list of parameter descriptions is not able to be provided.

[iamchoking]

I am interested to know why the development team you mentioned would not just add one or two sentences for explanation of each parameter. I would certainly be less effort than having to answer questions like this across multiple channels for what is close to a decade now.

These are parameters that almost all Realsense users can see and adjust, and yet nobody knows what they do.

Anyways, it is what it is I guess,

I am curious about the follwing functionalities:
Rsm (I looks like from #10608 that you toggled "RSM Bypass" to make TCT / TDT work properly)

• what does "RSM" stand for? and what do the thresholds mean?

Acronyms across the viewer interface
RSM / RAU / SLO / SAD / HDAD
If we at least knew what these stand for, we could do further research or deduce the functionalities.

[MartyG-RealSense]

I located a past comment at #5477 (comment) from a RealSense colleague that states that RSM Bypass makes it easier for the camera to detect fine / small objects, though at the expense of increased noise on the depth image.

An official documentation page for RSM can be found here:

https://docs.ros.org/en/melodic/api/rsm_additions/html/namespacersm.html

I could not find an description of what the letters RSM stand for, however.

There is not information on the meaning of the other terms but by experimentation in the RealSense Viewer's advanced controls I established that they are related to the rendering of the depth stream's color-shading, and increasing or decreasing the settings will either add more detail to the depth image or strip detail out and make the depth image have more gaps and holes. The majority of the settings did not make a large difference to the depth image though.

[iamchoking]

That rsm looks like something completely different (related to mapping applications using the camera). It seems that even collaborators of the project has a hard time distinguishing between acronyms.

I have also experimented on the viewer and found those details. I am more interested in their meaning rather than effect, so I can better utilize them with informed facts.

Are there team members that know what these acronyms stand for? If yes, can those members respond to this question?

[MartyG-RealSense]

I will submit a query about descriptions of the meaning of RSM / RAU / SLO / SAD / HDAD.

[MartyG-RealSense]

My colleagues ask if you have a non-disclosure agreement (NDA) with RealSense, which is required for disclosure of confidential information that cannot be shared publicly.

If you do not have an NDA agreement then they informed me that you can sign an NDA with us and then submit a private support ticket to RealSense on the Zendesk support channel (not this public GitHub channel) about your Advanced Mode information request.

If you would like to sign an NDA then please send your real name to my email address below and I will pass the contact details to my colleagues:

[email protected]

[iamchoking]

It is indeed a very strange and defensive posture to request an NDA for couple sentences of documentation.

I am now even more curious on "why" such important and sensitive information that cannot be open-sourced can be freely modified.

I am willing to sign this NDA if the details of the said NDA is free to read for the public, and anybody who stumbles upon this thread can read and sign this agreement.

[MartyG-RealSense]

Information that might be related to RealSense operational algorithms is typically closed-source private intellectual property information that requires an NDA.

It is unlikely that the details of the NDA would be publicly shareable unfortunately due to the confidentiality involved in the NDA registration process.