Question About Coordinate System and Point Cloud in ZED M Camera

Software Python
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Hi everyone,

I’m using the ZED M camera for position tracking and have set init_params.coordinate_system = sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP. I understand that this means the camera’s position tracking uses the world coordinate system, but I’m not sure how this affects the point cloud.

Is the point cloud coordinate system relative to the camera or the world frame in this case?

Additionally, I’ve noticed some drift in the camera’s position over time. Will this drift impact the accuracy of the point cloud data? If so, what solutions or best practices would you recommend to reduce or fix this drift?

Thanks in advance for your help!

2

Hi @NasserAlqeifi
Welcome to the Stereolabs community.

This parameter controls the orientation of the coordinate frame. See here.

You must use the runtime parameter measure3D_reference_frame to control this behavior.

It won’t. The point cloud accuracy is independent by the positional tracking drift.

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thank you for your replay, So when I used

measure3D_reference_frame

and change the frame of the 3d point cloud to a world frame
Does the drift in the camera position not affect the 3d point cloud?

correct me if I’m wrong.

4

As I said before, the positional tracking drift does not affect the quality of the point cloud.
On the contrary, a bad depth map/point cloud, can cause positional tracking drifts.