Zed 2i - SDK 5.2 - ZED360 calibration, floor estimation

[lemzr]

I’m planning to use ZED 360 to calibrate a setup of 6 ZED 2i cameras in my master’s project and I have a few questions.

The doc mentions that floor level is estimated when the ankles are visible. Are both ankles used? And how is H calculated ? averaged over multiple frames?
Second, our cameras are positioned to capture a seated subject, meaning a standing/walking person might not be fully visible in the field of view. Can the calibration work with a seated person with feet roughly at floor level, moving slowly in place instead of walking?
Third, regarding overwrite_gravity, is it possible to use this parameter directly within ZED360, or does it require writing a custom fusion pipeline?

Thanks

[Myzhar]

Hi @lemzr
Welcome to the StereoLabs community.

@lemzr

The doc mentions that floor level is estimated when the ankles are visible. Are both ankles used?

If both ankles are visible, the detection is more accurate.

@lemzr

And how is H calculated ? averaged over multiple frames?

This is not public information.

@lemzr

Second, our cameras are positioned to capture a seated subject, meaning a standing/walking person might not be fully visible in the field of view. Can the calibration work with a seated person with feet roughly at floor level, moving slowly in place instead of walking?

We have not tested it in similar conditions, but it should work correctly.

@lemzr

Third, regarding overwrite_gravity, is it possible to use this parameter directly within ZED360, or does it require writing a custom fusion pipeline?

Where have you found this parameter?