14 lines
791 B
Markdown
14 lines
791 B
Markdown
# Depth Unit Scaling Patterns
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## Findings
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- **Native SDK Scaling**: `depth_sensing.py` uses `init_params.coordinate_units = sl.UNIT.METER`.
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- **Manual Scaling**: `aruco/svo_sync.py` uses `depth_data / 1000.0` because it leaves `coordinate_units` at the default (`MILLIMETER`).
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## Risks
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- **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.
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- **Inconsistency**: Different parts of the codebase handle unit conversion differently (SDK-level vs. Application-level).
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## Recommendations
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- Standardize on `sl.UNIT.METER` in `InitParameters` across all ZED camera initializations.
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- Remove manual `/ 1000.0` scaling once SDK-level units are set to meters.
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