Significantly degraded Neural+ point cloud with 4.20 update

Software
1

Hello,

We tried upgrading from 4.1.2 to 4.2.0 and experienced significantly worse point cloud quality on the NeuralDepth+ model despite no related changes being mentioned on the update notes. This same issue also happened on the 4.0.6 to 4.0.7 update (4.0.7 Confidence Ranges Changed) with the NeuralDepth model and is very concerning to us.

On 4.2.0 large portions of the scene are missing points. I’ve sent images to support@stereolabs.com and will try to capture an SVO soon.

While the degraded point cloud is concerning, the larger issue for our team is not being able to trust the release notes or point cloud quality on incremental updates. We’re really impressed with the Zed cameras overall, but issues like this are what would cause us to switch to other camera systems.

Could you please restore the 4.1.2 NeuralDepth+ performance and provide more detailed release notes.

2

Hi @robots
Please always include images that can support your feedback when reporting a regression. This will help the software team verify and improve the software’s behaviors more easily.

3

As a quick fix, a solution would be to increase the confidence threshold to match the old version quality.

4

Yes I emailed them to support@stereolabs.com yesterday with a subject line matching this post’s title “Significantly degraded Neural+ point cloud with 4.20 update” . I emailed them as I don’t want them shared publicly.

5

Thanks for the suggestion, however, we decided not to upgrade because of the issues. In the past with the 4.0.7 issues, adjusting the confidence value helped in some situations, but we always ended up finding a scene with missing points after running for a while.