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feat(calibration): robust depth refinement pipeline with diagnostics and benchmarking

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crosstyan
2026-02-07 05:51:07 +00:00
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py_workspace/.sisyphus/notepads/depth-unit-audit/learnings.md
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# Depth Unit Scaling Patterns
## Findings
- **Native SDK Scaling**: `depth_sensing.py` uses `init_params.coordinate_units = sl.UNIT.METER`.
- **Manual Scaling**: `aruco/svo_sync.py` uses `depth_data / 1000.0` because it leaves `coordinate_units` at the default (`MILLIMETER`).
## Risks
- **Double-Scaling**: If `svo_sync.py` is updated to use `sl.UNIT.METER` in `InitParameters`, the manual `/ 1000.0` MUST be removed, otherwise depth values will be 1000x smaller than intended.
- **Inconsistency**: Different parts of the codebase handle unit conversion differently (SDK-level vs. Application-level).
## Recommendations
- Standardize on `sl.UNIT.METER` in `InitParameters` across all ZED camera initializations.
- Remove manual `/ 1000.0` scaling once SDK-level units are set to meters.