Intel D415 Rau SLO and SAD parameters
Hello,
I am currently working on optimizing the advanced depth controls to enhance the camera performance in my application.
I have come across several parameters related to Rau, SLO, and SAD names. Is there any information available on what they refer to? I am aware that each acronym has multiple thresholds and configuration parameters, but it would be really helpful to have some general insights.
Thanks.
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Hi Oriol Vila Because the Advanced Mode settings interact with each other in complex ways, there is not documentation for most of them as Intel chose to control them with machine learning algorithms instead. You are free to experiment with them though to see what effect it has on the image.
There are very few Advanced Mode controls that need to be known about though. The key one for improving depth image quality would be DS Second Peak Threshold, which can be found at the top of the options list under the Depth Control category of 'Advanced Controls' in the RealSense Viewer.
https://github.com/IntelRealSense/librealsense/issues/10695#issuecomment-1191225253
The 'DS Second Peak Threshold' setting affects the confidence level threshold used by the depth algorithm to set whether a pixel will get a valid range or will be marked as having an invalid range.
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Thanks for the answer,
I know that there is no documentation available for advanced controls and that it must be difficult to determine the individual impact of each parameter on the final depth measurements, thus requiring machine learning algorithms for proper optimization.
But could it be possible to at least know the naming logic behind them? Rau, SLO, and SAD must refer to some specific concepts, given their frequent repetition.
It would be really helpful to know what parameter names refer to.
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