Object speed measured by a mobile camera

Dear ZED community,
We are using the ZED2 cameras intensively on our robots moving with 1m/s in urban scenarios. Does the camera’s movement affect their calculated speed information if I am tracking pedestrians? Do I have to subtract the robot’s movement or correct the camera’s object speed level automatically by the internal position system?
Best wishes

Hi @SebastianZug,

First of all, welcome to the Stereolabs community!

This depends on the reference frame you are retrieving the objects/bodies.

By setting the
sl::RuntimeParameters.measure3D_reference_frame to sl::REFERENCE_FRAME::WORLD, you do not have to compensate the relative position of the camera, as this will be done by the SDK’s positional tracking module.

This is mentioned in the API doc as well:: BodyData Class Reference | API Reference | Stereolabs

Hope this helps,