zed-playground/py_workspace/.sisyphus/notepads/depth-unit-audit/learnings.md

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.