Parameter Descriptions

Note

For numerical parameters, press the Enter key after inputting a value to make it take effect.

Operation Mode

Field	Parameter and Description
Data Stream	Enable/Disable the corresponding data stream.
Capture Mode	Set camera capture mode: Max FPS in Streaming Mode: In this mode, the camera outputs enabled data streams at the maximum frame rate. Fixed FPS in Streaming Mode: In this mode, the camera outputs enabled data streams at the set frame rate. Hardware Trigger: In this mode, the camera receives hardware trigger signals and outputs images. Software Trigger: In this mode, you can click the software trigger button on the image capture interface to capture images.
Startup Parameter Set	Name: View the camera’s current startup parameter set. `Change`: Change the camera’s startup parameter set.
Current Parameter Set	Name: View the camera’s current parameter set. Description: View the description of the camera’s current parameter set. `Load from Camera`: Select and load a parameter set stored in the camera. `Save to Camera`: Save the current software parameter settings to the camera. `Import from File`: Load parameters from a “json” file to replicate configurations across cameras of the same model, facilitating batch deployment of userset settings. `Export to File`: Save current software parameters to a local “json” file.

Basic

Field	Parameter	Description
Depth Image	Resolution	Set depth image format and resolution.
Color Image	Resolution	Set color image format and resolution.
	BalanceWhiteAuto	When checked, enables automatic white balance for color images.
	ExposureAuto	When checked, enables automatic exposure for color images. Then, ExposureTargetBrightness and ROI can be set.
	ExposureTime	Set color image exposure time. Only effective when ExposureAuto is unchecked.
	AnalogGain	Set color image analog gain. Only effective when ExposureAuto is unchecked.
	RedGain	Set color image R channel digital gain. Only effective when BalanceWhiteAuto is unchecked.
	GreenGain	Set color image G channel digital gain. Only effective when BalanceWhiteAuto is unchecked.
	BlueGain	Set color image B channel digital gain. Only effective when BalanceWhiteAuto is unchecked.
	ExposureTargetBrightness	Set target brightness for color image automatic exposure. Only effective when ExposureAuto is checked.
	ROI	Set the ExposureAuto target area for the color image. Only effective when ExposureAuto is checked. Method 1: Enter Values. Set the X, Y, Width, and Height parameters, which correspond to the pixel coordinates of the top-left corner and the dimensions (width and height) of the region, respectively. Method 2: Draw Manually. Click , then click and drag on the image with the left mouse button to draw a rectangle. To cancel, right-click or press the `Esc` key.
Left Image/Right Image	ExposureAuto	When checked, enables automatic exposure for grayscale images. Then, ExposureTargetBrightness and ROI can be set.
	Exposure Time	Set exposure time left for grayscale images. Only effective when ExposureAuto is unchecked.
	AnalogGain	Set left image analog gain. Only effective when ExposureAuto is unchecked.
	DigitalGain	Set left image digital gain. Only effective when ExposureAuto is unchecked.
	ExposureTargetBrightness	Set target brightness for left image automatic exposure. Only effective when ExposureAuto is checked.
	ROI	Set the ExposureAuto target area for the grayscale images. Only effective when ExposureAuto is checked. Method 1: Enter Values. Set the X, Y, Width, and Height parameters, which correspond to the pixel coordinates of the top-left corner and the dimensions (width and height) of the region, respectively. Method 2: Draw Manually. Click , then click and drag on the image with the left mouse button to draw a rectangle. To cancel, right-click or press the `Esc` key. Note A very small ROI area can lead to a completely black depth map. For best results, please adjust the ROI to cover a larger and more relevant part of the scene.
Light Source	LaserBrightness	Set laser brightness.
	FloodBrightness	Set brightness of the flood light source.

Advanced

General

Parameter	Description
AcquisitionFrameRate	Set the frame rate for camera image acquisition. Only effective when AcquisitionFrameRateEnable is checked.
AcquisitionFrameRateEnable	When checked, the camera output frame rate can be set via the AcquisitionFrameRate parameter.
AcquisitionMode	Set the camera capture mode, such as Continuous or SingleFrame.
DepthScaleUnit	Set the calculation coefficient for depth measurement values, used to convert depth image pixel values into actual measured distances (unit: mm).
DepthSgbmDisparityNumber	Set the disparity search range for stereo matching. The larger the value, the greater the camera’s Z-direction measurement range, and computational load increases.
DepthSgbmDisparityoffset	Set the starting disparity value for search, affecting the maximum Z-direction measurement distance. The smaller the set value, the greater the maximum Z-direction measurement value (Zmax), i.e., the farther the measurement range, but the lower limit of the set value is affected by the depth of field.
DepthSgbmHFilterHalfWin	Search filter switch for optimizing depth maps. Used to further optimize depth maps, remove noise and discontinuities, making point clouds on object edges friendlier.
DepthSgbmImageNumber	Set the number of IR images used for depth calculation. The larger the set value, the better the output depth image quality, but the lower the frame rate. The upper limit of the set value is affected by the camera’s computational power.
DepthSgbmLRC	Left-Right Consistency check switch, used to verify the reliability of stereo matching.
DepthSgbmLRCDiff	Left-Right Consistency check parameter. The smaller the value, the more reliable the match.
DepthSgbmMatchWinHeight	Set the height of the disparity matching window, must be an odd number. The larger the disparity matching window (MATCH_WIN_HEIGHT * MATCH_WIN_WIDTH), the smoother the depth map, but accuracy decreases. The smaller the disparity matching window, the more detail the depth map shows, but the chance of incorrect matching increases.
DepthSgbmMatchWinWidth	Set the width of the disparity matching window, must be an odd number.
DepthSgbmMedFilter	Median filter switch, used to eliminate isolated noise points in depth maps.
DepthSgbmMedFilterThresh	Median filter threshold. The larger the value, the more noise is filtered.
DepthSgbmSaturateFilterBlurSize	Set the blur kernel size for the saturation filter.
DepthSgbmSaturateFilterDilateSize	Set the dilation kernel size for the saturation filter.
DepthSgbmSaturateFilterEnable	Enable/Disable the depth map saturation filter function.
DepthSgbmSaturateFilterVal	Set the threshold for the saturation filter.
DepthSgbmSemiParamP1	Set the constraint penalty parameter P1 for adjacent pixels in stereo matching. Larger values result in smoother depth maps.
DepthSgbmSemiParamP1Scale	Set the scaling factor for the adjacent pixel constraint penalty parameter P1.
DepthSgbmSemiParamP2	Set the constraint penalty parameter P2 for surrounding pixels in stereo matching. Larger values result in smoother depth maps.
DepthSgbmTextureFilterEnable	Enable/Disable the depth map texture filter function.
DepthSgbmTextureFilterMaxDistance	Set the maximum effective distance for texture filtering.
DepthSgbmTextureFilterThreshold	Set the texture filter threshold, used to detect low-texture areas.
DepthSgbmTextureFilterValueOffset	Set the texture attribute threshold, used to optimize edge detection in depth maps.
DepthSgbmTextureFilterWindowSize	Set the detection window size for texture filtering.
DepthSgbmUniqueAbsDiff	Set the uniqueness check parameter, representing the absolute difference between the best and second-best matching points.
DepthSgbmUniqueFactor	Set the uniqueness check parameter, representing the percentage ratio between the best and second-best matching points.
DepthSgbmUniqueMaxCost	Set the maximum cost ratio for the uniqueness constraint, used to filter unreliable disparities.
DeviceFrameRecvTimeOut	Timeout for the host PC waiting to receive camera data streams.
DeviceLinkHeartbeatMode	Enable/Disable the heartbeat signal that maintains the connection between the program and the camera.
DeviceLinkHeartbeatTimeout	Set the heartbeat timeout period for determining abnormal device connection.
DeviceLinkSpeed	Read the network connection speed of the camera.
DeviceStreamAsyncMode	Set the data stream asynchronous output mode.
DeviceStreamChannelPacketSize	Set the maximum size (MTU) of a single data packet in network transmission.
DeviceTimeSyncMode	Set the camera’s time synchronization mode, such as Host.
GevSCPD	Set the inter-frame delay for stream channel network packets to reduce network congestion.
IRUndistortion	Enable/Disable IR distortion correction.
TriggerDurationUs	Set the duration of the camera’s trigger output signal (unit: microseconds).
TriggerSource	Set the camera’s trigger signal source (e.g., Software, Hardware).

Depth

Parameter	Description
AutoFunctionAoIHeight	The height (in pixels) of the Left & Right image automatic exposure ROI area after mapping to the depth image. Only effective when ExposureAuto is checked.
AutoFunctionAoIoffsetX	The X coordinate value of the top-left vertex of the Left & Right image automatic exposure ROI area after mapping to the depth image. Only effective when ExposureAuto is checked.
AutoFunctionAoloffsetY	The Y coordinate value of the top-left vertex of the Left & Right image automatic exposure ROI area after mapping to the depth image. Only effective when ExposureAuto is checked.
AutoFunctionAoIWidth	The width (in pixels) of the Left & Right image automatic exposure ROI area after mapping to the depth image. Only effective when ExposureAuto is checked.
ExposureAuto	When checked, enables automatic exposure for depth images, and allows setting parameters related to AutoFunctionROI.
IntrinsicHeight	The intrinsic height (in pixels) of the left & right monochrome image sensors. Usually consistent with SensorHeight, representing the vertical pixel dimension of the sensor chip.
IntrinsicWidth	The intrinsic width (in pixels) of the left & right monochrome image sensors. Usually consistent with SensorWidth, representing the horizontal pixel dimension of the sensor chip.
PixelFormat	Set the pixel format of the output image (e.g., Coord3D_C16, etc.), determining the encoding and storage method of depth data.
SensorHeight	The physical height (in pixels) of the camera’s image sensor.
SensorWidth	The physical width (in pixels) of the camera’s image sensor.

Note

Adjusting automatic exposure parameters under the Depth field affects the corresponding Left & Right image parameters.

Texture

Parameter	Description
AutoFunctionAoIHeight	Set the height (in pixels) of the color image automatic exposure ROI area. Only effective when ExposureAuto is checked.
AutoFunctionAoIoffsetX	Set the X coordinate of the top-left vertex pixel of the color image automatic exposure ROI area. Only effective when ExposureAuto is checked.
AutoFunctionAoIoffsetY	Set the Y coordinate of the top-left vertex pixel of the color image automatic exposure ROI area. Only effective when ExposureAuto is checked.
AutoFunctionAoIWidth	Set the width (in pixels) of the color image automatic exposure ROI area. Only effective when ExposureAuto is checked.
BalanceWhiteAuto	When checked, enables automatic white balance for color images.
ExposureAuto	When checked, enables automatic exposure for color images. Once enabled, ExposureTargetBrightness and parameters related to AutoFunctionAOI can be further set.
ExposureTime	Manually set color image exposure time. Only effective when ExposureAuto is unchecked.
ExposureTargetBrightness	Only effective when ExposureAuto is checked. Sets the target brightness for the color sensor’s automatic exposure.
IntrinsicHeight	The intrinsic height (in pixels) of the color camera sensor. Usually consistent with SensorHeight.
IntrinsicWidth	The intrinsic width (in pixels) of the color camera sensor. Usually consistent with SensorWidth.
PixelFormat	Set the pixel format of the color output image (e.g., BayerRG8, YUV422, JPEG, etc.), determining the encoding and storage method of color data.
SensorHeight	The physical height (in pixels) of the color camera’s image sensor.
SensorWidth	The physical width (in pixels) of the color camera’s image sensor.
AnalogGain	Set color image analog gain. Only effective when ExposureAuto is unchecked.
RedGain	Set color image R channel digital gain. Only effective when BalanceWhiteAuto and ExposureAuto are unchecked.
GreenGain	Set color image G channel digital gain. Only effective when BalanceWhiteAuto and ExposureAuto are unchecked.
BlueGain	Set color image B channel digital gain. Only effective when BalanceWhiteAuto and ExposureAuto are unchecked.

Left/Right

Parameter	Description
AutoFunctionAoIHeight	Set the height of the Left & Right image automatic exposure ROI area. Only effective when ExposureAuto is checked.
AutoFunctionAoIoffsetX	Set the X coordinate of the top-left pixel of the Left & Right image automatic exposure ROI area. Only effective when ExposureAuto is checked.
AutoFunctionAoloffsetY	Set the Y coordinate of the top-left pixel of the Left & Right image automatic exposure ROI area. Only effective when ExposureAuto is checked.
AutoFunctionAoIWidth	Set the width of the Left & Right image automatic exposure ROI area. Only effective when ExposureAuto is checked.
ExposureAuto	When checked, enables automatic exposure for Left & Right images. Once enabled, ExposureTargetBrightness, ExposureAutoUpperLimit, ExposureAutoLowerLimit, and the automatic exposure ROI can be further set.
ExposureTime	Set Left & Right image exposure time. Only effective when ExposureAuto is unchecked.
ExposureAutoLowerLimit	Set the lower limit for Left & Right image automatic exposure time. Only effective when ExposureAuto is checked.
ExposureAutoUpperLimit	Set the upper limit for Left & Right image automatic exposure time. Only effective when ExposureAuto is checked.
ExposureTargetBrightness	Set the target brightness for Left & Right image automatic exposure. Only effective when ExposureAuto is checked.
IntrinsicHeight	The intrinsic (internal parameter) height (in pixels) of the Left & Right camera sensors. Usually consistent with SensorHeight.
IntrinsicWidth	The intrinsic (internal parameter) width (in pixels) of the Left & Right camera sensors. Usually consistent with SensorWidth.
PixelFormat	Set the pixel format of the Left & Right output images (e.g., Mono10p), determining the encoding and storage method of left/right image data.
SensorHeight	The physical height (in pixels) of the Left & Right camera image sensors.
SensorWidth	The physical width (in pixels) of the Left & Right camera image sensors.
AnalogGain	Set the analog gain for the left or right image, respectively.
DigitalGain	Set the digital gain for the left or right image, respectively.

Note

Adjusting automatic exposure parameters under the Left or Right field affects the corresponding parameters under the Depth field.
Except for AnalogGain and DigitalGain, the other parameters under the Left and Right fields are interlinked. Adjusting a parameter value in one field will automatically synchronize the corresponding parameter in the other field to the same value.

Light Source

Parameter	Description
LaserBrightness	Set laser brightness.
LaserEnable	Enable the laser light source.
FloodBrightness	Set brightness of the flood light source.
FloodEnable	Enable the floodlight source.

DeviceTemperature

This field displays the temperatures measured by sensors located on the camera mainboard (Mainboard), left monochrome image sensor (Left), right monochrome image sensor (Right), color sensor (Texture), laser (Laser), and CPU core (CPUCore).

Post Processing

The Post Processing page displays parameters related to depth image post-processing.

Field

Parameter and Description

Depth Inpainter

Check/Uncheck: Enable/Disable the depth map hole filling function. This is a software-level post-processing that can fill in missing depth data.
Kernel size: The kernel size of the depth map hole filling algorithm. The larger the value, the more holes are filled, but it may cause depth map distortion.
Max Internal Hole: The maximum hole size that the depth map hole filling algorithm can fill.

Depth Speckle Filter

Check/Uncheck: Enable/Disable the depth map speckle filter function. This is a software-level post-processing that can filter out small, scattered speckles in the depth map.
Max Speckle Diff: Speckle filter clustering threshold. If the depth difference between adjacent pixels is less than this threshold, those adjacent pixels are considered to belong to the same cluster. The larger this value, the more adjacent pixels belong to the same cluster.
Max Speckle Size: Speckle filter area threshold. Clusters with an area smaller than this threshold are filtered out. The larger this value, the more clusters are filtered out.