findFloorPlane priors not affecting result

Software
1

Hi everyone,

The findFloorPlane method seems to return a SUCCESS even when the provided floor_height_prior and floor_height_prior_tolerance arguments are unrealistic values.

For example, given a setup where the camera is on a tripod, ~1.81m above the floor.
We run:

self.plane = sl.Plane()
self.reset_tracking_floor_plane = sl.Transform()
self.find_floor_plane(self.plane, self.reset_tracking_floor_plane, floor_height_prior=1000, floor_height_prior_tolerance=0.0003)

This returns the success error code, despite the nonsensical prior values.
The resulting plane and tracking transform look correct, they have valid heights (0m and ~1.81m respectively), but based on the documentation for this method the function should have returned an error.

Have I misunderstood what these priors do? Are they being used?

Thank you!

2

Hi @diego
What SDK version are you using?
Can you record and share an SVO with ZED Explorer in the same conditions to test this behavior?

What units are you using? millimeters, meters?

3

Hi @Myzhar, thanks for replying so quickly.

Sorry I didn’t mention my environment - I am on ZED SDK 4.2, using a ZED 2i camera.
Units are in meters. The coordinate system is the OpenGL one (RIGHT_HANDED_Y_UP).

I have attached a short SVO and a script.
floorPlaneTest.svo2 (498.5 KB)

And the script I am running:
floor_plane_test.py (1.9 KB)

Try running:
python floor_plane_test.py --svo_path floorPlaneTest.svo2 --floor_height_prior 999999
or
python floor_plane_test.py --svo_path floorPlaneTest.svo2 --floor_height_prior 0

I see no difference in the output.

4

Just to be clear - based on the docs for find_floor_plane, I would expect that when I set the floor_height_prior to 999999, I should get an error.

In this example, the camera finds the floor height fine, however that is not guaranteed in my use case. My goal here is to write a process where if the camera *doesn’t * find its height to be within a few cm of 1.81m (maybe someone was walking in front of the camera when it was trying to find the floor), then I want it to loop and keep trying until it finds the right height.
I was hoping to use the floor_height_prior argument for this when I found out it doesn’t change my result.

5

SVO and code snippet shared with the SDK team for a check.

Can you verify if the problem persists with the SDK v5.0?