chore(metadata): update beads and sisyphus planning artifacts

2026-02-07 04:16:41 +00:00
parent ddb7054f96
commit cdc4f9eec4
28 changed files with 633 additions and 220 deletions
@@ -182,7 +182,11 @@ class SVOReader:
            return None
        depth_mat = sl.Mat()
        cam.retrieve_measure(depth_mat, sl.MEASURE.DEPTH)
-        return depth_mat.get_data().copy()
+        depth_data = depth_mat.get_data().copy()
+
+        # ZED SDK defaults to MILLIMETER units if not specified in InitParameters.
+        # We convert to meters to match the extrinsics coordinate system.
+        return depth_data / 1000.0

    def _retrieve_confidence(self, cam: sl.Camera) -> np.ndarray | None:
        if not self.enable_depth: