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stereolabs / zed-python-api

Python API for the ZED SDK
https://www.stereolabs.com/docs/app-development/python/install/
MIT License
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Zed Depth Viewer Point Cloud Only Available in Standard Mode #145

Closed saratrajput closed 4 years ago

saratrajput commented 4 years ago

Why does Zed Depth Viewer show point cloud is only available in Standard Mode when I try to switch to Fill? Is it supposed to be like this or am I missing something here?

fill_mode_depth_viewer

point_cloud_standard_only

I'm using Zed SDK 3.1, with Zed-M camera on Ubuntu 18.

obraun-sl commented 4 years ago

Hi,

This is the expected behavior since we want to indicate that Point cloud visualization gives better results in the STANDARD mode (because it's more precise, less filtering). Therefore, in Depth Viewer, we don't show the point cloud in FILL mode. However, using the ZED SDK, you can of course access the point cloud Mat using FILL or STANDARD mode without restrictions.

saratrajput commented 4 years ago

@obraun-sl Thanks for the quick reply. I just had a quick follow up question. So is it advisable to use STANDARD mode with confidence_threshold and textureness_confidence_threshold at 100 or FILL mode for applications where accuracy of the point cloud is more important? I couldn't understand from the documentation itself.

obraun-sl commented 4 years ago

If accuracy of the point cloud is the most important, always use the STANDARD mode. To increase/decrease density of the depth map, you can change the confidence/texture confidence, depending on the level of density you need.

saratrajput commented 4 years ago

Perfect. Thank you. And one last thing I wanted to clear. About QUALITY and ULTRA mode. Is ULTRA mode only meant to be used when the objects are farther away? Or should I expect better results when objects are within 0.3 ~ 1m in well lit environment from ULTRA mode than QUALITY mode? Processing time and memory not being an issue.

saratrajput commented 4 years ago

Anyway I'll close this issue since my initial question was answered.