# 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.