Depth issues on reflective parts for zed2i

[pixml]

I have connected a zed2i camera and am getting photos and depth data. My settings are:

 init.camera_resolution = sl.RESOLUTION.HD1080
    init.depth_mode = sl.DEPTH_MODE.ULTRA
    init.coordinate_units = sl.UNIT.METER  
    init.camera_fps = 15
    runtime_parameters.sensing_mode = sl.SENSING_MODE.FILL

Once I took a picture of an object with a reflective element and got the following result (the distance in the “spot” is huge)

In my pictures there may be different reflective materials, films, etc., lighting is also not fixed.
So, should I change the settings, or do I need to invent some post-processing to avoid similar situations in the future?

[pixml]

The original image:

[Myzhar]

Hi @pixml
Welcome to the Stereolabs community and my wish for a good 2023.

The area with high reflection can be a problem because it can generate different visual features for the left and right images generating that kind of problem.
You can filter out the saturated area from the depth map by using this filter:
https://www.stereolabs.com/docs/api/python/classpyzed_1_1sl_1_1RuntimeParameters.html#a776278d9042d8f28fb31ef4cff513971

[pixml]

Hi @Myzhar
Thanks, I will try it!