# Plane detection

**URL:** <https://community.stereolabs.com/t/plane-detection/144>\
**Category:** Uncategorized\
**Tags:** python\
**Created:** [March 10, 2021, 8:16pm UTC](https://community.stereolabs.com/t/plane-detection/144 "2021-03-10T20:16:26Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![bblumberg](https://community.stereolabs.com/user_avatar/community.stereolabs.com/bblumberg/32/93_2.png) [@bblumberg](https://community.stereolabs.com/u/bblumberg)\
**Post date:** [March 10, 2021, 8:16pm UTC](https://community.stereolabs.com/t/plane-detection/144/1 "2021-03-10T20:16:27Z")

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Hi

I am investigating using the zed 2 to do aruco localization. I have the opencv version working fine, and then decided to see if I could use the plane detection as a way of disambiguating the aruco orientation. But I am wondering if I am at the limits of what the plane detection can do. I am using interior lighting, the range is roughly 40cm, and I am using an aruco markers (25mm). What I am seeing is that the range on the plane is either very noisy or significantly off relative to my aruco measurements. Here are the settings that I am using:

self.runtime.sensing\_mode = sl.SENSING\_MODE.STANDARD  
self.runtime.measure3D\_reference\_frame = sl.REFERENCE\_FRAME.CAMERA  
self.runtime.confidence\_threshold = 10  
init\_params.camera\_resolution = sl.RESOLUTION.HD720  
init\_params.depth\_mode = sl.DEPTH\_MODE.QUALITY  
init\_params.coordinate\_units = sl.UNIT.MILLIMETER  
init\_params.camera\_image\_flip = sl.FLIP\_MODE.OFF

So my question is whether what I am asking the system to do is beyond what it can do, or if there are settings that I should be using instead. The first answer is fine if that is the truth of the matter, but I am hopeful that maybe there is something else that I should be trying. Thanks.

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<div class="post-metadata">

**Author:** ![bblumberg](https://community.stereolabs.com/user_avatar/community.stereolabs.com/bblumberg/32/93_2.png) [@bblumberg](https://community.stereolabs.com/u/bblumberg)\
**Post date:** [March 12, 2021, 1:25pm UTC](https://community.stereolabs.com/t/plane-detection/144/2 "2021-03-12T13:25:08Z")

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I got much better performance when I upped the resolution to HD2K, and explicitly set the minimum distance.