深度表数据结构的疑问

1.英特尔表示他们不打算为高级模式中的每个设置提供文档，而DisparityMode似乎是那些未记录的设置之一。
英特尔表示，所有参数之间存在复杂的相互作用，因此他们使用机器学习来针对不同的用途进行全局优化。
2. RealSense使用mm。
3.下面的调整文档非常适合学习视差移位和深度尺度。
'调整D415和D435相机以获得最佳性能'演示
我不确定这个。
在这个特定问题上，其他人可能能够提供比我更好的答案。



以下为原文

1.  Intel have stated that they do not plan to provide documentation for every setting in Advanced Mode, and DisparityMode seems to be one of those undocumented settings.  Intel says there is a complex interplay between all parameters, so they instead use machine learning to globally optimize for different usages.
 
2.  RealSense uses mm.
 
3.  The tuning document below is excellent for learning about disparity shift and depth scale.
 
'Tuning D415 And D435 Cameras For Optimal Performance' presentation
 
4.  I am not sure about this one.  Someone else may be able to provide a better answer than I can on this particular question. 

Hellogianfr90，感谢您对英特尔实感D435相机的关注。非常感谢MartyG的投入！
关于第4个问题，depthClampMin将通过忽略低于此值的任何内容来限制扫描区域的深度，而depthClampMax将通过忽略高于此值的任何内容来限制扫描区域的深度。
您可以在以下网址上阅读更多相关信息：https：//github.com/IntelRealSense/librealsense/issues/1680实际物理MinZ和MaxZ可以通过两种方式进行操作，如BKMs论文（第5页，b。和c部分）中所述。
）。
通过改变深度成像器的分辨率并增加视差偏移。
Clamps控件不能将depthClampMin和depthClampMax移动到上述控件设置的值之外。
所以，MinZ我希望这些信息对你有所帮助！谢谢你，最诚挚的问候，Eliza



以下为原文

Hello gianfr90,

Thank you for your interest in the Intel RealSense D435 camera.

Thank you very much MartyG for the input! 
Regarding your 4th question, depthClampMin will restrict the depth of a scanned area by ignoring anything below this value, while depthClampMax will restrict the depth of a scanned area by ignoring anything above this value. You can read more about it on: https://github.com/IntelRealSense/librealsense/issues/1680

The actual physical MinZ and MaxZ can be manipulated in two ways as described in the BKMs paper (page 5, sections b. and c.). By changing the Resolution of the depth imagers and increasing the disparity shift. The Clamps controls cannot move the depthClampMin and the depthClampMax beyond the values set by the controls described above. So, MinZ <= depthClampMin <= depthClampMax <= MaxZ. However, the camera will not scan anything beyond depthClampIn and depthClampMax.
To summarize, the color mapping is not changed by modifying the Clamp values and Intel does not recommend for users to manually change the Advanced Mode parameters and instead use the depth presets provided.

I hope that this information helps you! 

Thank you and best regards,
Eliza

你好伊丽莎，
谢谢你的解释。
现在我很清楚。
可以问你为什么英特尔不建议让用户更改这些参数？
我正在使用librealsense2 SDK创建一个应用程序，通常用户将相机固定在距目标对象已知距离处，并且通常还知道对象的高度。
因此，可能发生用户想要适合物体高度和工作距离的自定义深度范围。
这样做有什么特别的缺点吗？
当然希望相机可能无法获得超出自定义深度范围的对象。
非常感谢！
詹弗兰科



以下为原文

Hello Eliza,
thank you for the explanation. Now it is clear to me.
May ask you why Intel does not recommend to let the user changing those parameter?
 
I am creating an application using the librealsense2 SDK and typically the user has a camera fixed at a known distance from the target object and typically also the height of the object is known. So it may happen that the user wants a custom depth range that fits the object height and the working distance.
Is there any particular drawback in doing so? Of course expect the case that the camera may not get an object outside the custom depth range.
 
Many Thanks!
 
Gianfranco

Hellogianfr90，我很高兴能帮到你！这背后的原因是MartyG上面说的那个。
由于所有参数之间存在复杂的相互作用，我们目前使用机器学习来针对不同的用途进行全局优化。
出于这个原因，我们不建议更改任何参数，我们建议您使用预设。感谢您和最好的问候，Eliza



以下为原文

Hello gianfr90,

I am glad that I could help you! 

The reason behind this is the one stated by MartyG above. Due to the fact that there is a complex interplay between all parameters, we currently use machine learning to globally optimize for different usages. For this reason we do not recommend changing any of the parameters and we recommend using the presets instead. 

Thank you and best regards,
Eliza

你好伊丽莎，
谢谢。
所以基本上可以看出，通过改变任何高级参数，用户可能无法获得所需的结果，因为在使用预设模式时学习算法会考虑其他高级（和内部？）参数。
我对么？
非常感谢你。
詹弗兰科



以下为原文

Hello Eliza,
thank you. So basically it turns out that by changing any advanced parameter the user may not get the desired result since there other advanced (and internals?) parameter linked to it that the learning algorithm takes into account when using the presets mode. Am I correct?
 
Thank you very much.
 
Gianfranco

你好gianfr90，是的，这是对的。
唯一提到的是，所有参数都是暴露透明的，没有其他隐藏的参数。你可以修改目的和效果很好理解的参数，比如Clamp，但大多数参数都不那么简单。谢谢你，最好的问候，Eliza



以下为原文

Hello gianfr90,

Yes, this is correct. The only mention is that all parameters are exposed for transparency and there are no other hidden parameters. 

You can modify the parameters whose purpose and effect is well understood, such as the Clamp but most parameters are not as straightforward.

Thank you and best regards,
Eliza