Positional tracking behavior when stereo camera effectively becomes monocular

Software C++
1

Hi,
When I move the Zed2i camera, in certain scenarios the baseline isn’t sufficient (e.g. looking at distant scene) and I expect the stereo camera to perform effectively like a monocular camera.
Does the Positional tracking module addresses this scenario (it can still use the synced IMU and monocular camera and also the intermediate area mapping)?
Can I somehow control the flow so that the positional performance will be less degraded?

Many thanks,
Matan

2

Hi @matanj
Welcome to the Stereolabs community.

Are you using Positional Tracking GEN_1 or GEN_2?
What version of the ZED SDK?

3

Hi Myzhar, thanks for your rapid reply.
Currently we use SDK 4.0 or 4.1. We didn’t toggle the GEN_x parameter.
Does the answer to above depend on the versions?

4

Yes, please upgrade the SDK to the latest v4.2.5 and set the Positional Tracking module to use the GEN_2 mode.

1 Like
5

Hi, I upgraded the SDK in my Docker image
(I use the link https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/l4t${L4T_MAJOR_VERSION}.${L4T_MINOR_VERSION}/jetsons)

On my Jetson, when I print the SDK version, I see 4.2.3.
With GEN2, moving the camera isn’t reflected in position update.
With GEN1, there is no problem.
I tested this both in L4T 32.7.1 and in 35.3.1 and the issue persists.

On my laptop with Ubuntu 20.04, there is no issue.

6

Please use SDK v4.2.5

7

I think I do; maybe the SDK version strings for the Jetsons weren’t updated? (when I install the SDK outside Docker and run e.g. the ZED explorer I see the correct 4.2.5)?