Depth image changes from 4.x to 5.x?

Software Python
1

Did the depth image format (sl.MEASURE.DEPTH with Camera.retrieve_measure) change between the 4.x and 5.x SDK?

Trying to root cause a problem that we’re having with depth image data looking “suspicious” after an SDK update.

2

The measure is still distance from camera on z axis right? With 0 at the camera plane?

3

There have been big changes from v4 to v5.
Can you please add details concerning your doubts so we can understand if it’s expected?

Sure, this cannot change.

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4

It’s hard to say, but the values in the depth image seem lower than expected. Due to a severe lack of testing equipment right now I don’t have a 4.x system to compare it to.

At a high level, we have interactive content that is driven by the depth data for depths within a certain range, and all I know right now is the depth data is reportedly not triggering interactions after a 5.x update.

I don’t really have much to go on, sorry, that’s why I didn’t mention any details. What are some of the changes related to depth data that have occurred? Is there a 5.x migration guide somewhere?

Currently we are retrieving depth data and casting the floats to uint16s, in Python, basically like this:

camera.grab(sl.RuntimeParameters())
camera.retrieve_measure(depth, sl.MEASURE.DEPTH)
depth_image = np.nan_to_num(depth.get_data())
depth_image = np.minimum(depth_image, 65535)
depth_image = np.maximum(depth_image, 0)
depth_image = depth_image.astype("uint16")

With the camera initialization parameters being:

        init_params = sl.InitParameters()
        init_params.coordinate_units = sl.UNIT.MILLIMETER
        init_params.depth_mode = sl.DEPTH_MODE.NEURAL
        init_params.coordinate_system = sl.COORDINATE_SYSTEM.LEFT_HANDED_Y_UP
        init_params.depth_minimum_distance = 0.5

This code definitely worked in 4.x. I am unsure if it works in 5.x. Like I said, I have no idea where the problem with our system is right now, I just started to investigate it and have limited resources at the moment. So any hints would be super helpful, if you have any.

Thanks!

5

So I downgraded my test machine to 4.x and compared the depth data with 5.x, and aside from 4.x having slightly softer edges around objects they appear to be similar enough.

So I don’t think any 4.x to 5.x changes are actually responsible for our issues here.

Would still be interested in a migration guide, however.

Thanks!

6

There are no big API differences between v4 and v5; that’s why we have not released a migration guide. This blog post contains a few useful information.

The only big difference regards the fact that we progressively removed standard stereo vision depth modes to replace them with AI-based modes.

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7

Great, thank you very much!

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