Why zed reset_positional_tracking method is so slow?

Software Python
1

Hi Team,
we are trying to invoke reset_positional_tracking method of zed to calibrate its pose base on known tag position, however we found this method is very slow, it takes about 1 sec in my code, could you suggest if we can improve its performance? Thanks!

2

Hi @phenixyu
Please add more information. Can you share your code for testing?

3

Hi Myzhar,

Thanks for your quick reply, below is my method to reset positional tracking, this method take almost 1 sec.

def __reset_position_tracking(self, tvec, rvec):
  transform = sl.Transform()
  translation = sl.Translation()
  translation.init_vector(tvec[0], tvec[1], tvec[2])
  transform.set_translation(translation)
  transform.set_rotation_vector(rvec[0], rvec[1], rvec[2])
  transform.inverse() 
  self.zed.reset_positional_tracking(transform)
4

If you are using GEN_3 this is expected.

5

yes, exactly we are using GEN_3, do we have any document to explain the cause?

6

No, this is how the SDK internally works, so it’s not a piece of disclosed information.

7

we switched to GEN_1, the performance of reset_positional_tracking method looks better now. and however After we call __reset_position_tracking method to set the pose with parameters shown in below log, next we continue to call zed.get_position get new pose, the translation value is (1281.69, 76.73, -329.12), why the new translation data in pose object is different with what we set in transform?

    • Resetting ZED position with translation: (-1345.3813876691827, 39.749458120362256, -71.60065075197093) and rotation: (2.85067681567348, -0.15151952150737974, 0.3947294364229416)