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Add ultra depth mode and fix performance depth mode in Zed2i #124

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Feb 5, 2024
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Add ultra depth mode and fix performance depth mode in Zed2i #124

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4 changes: 3 additions & 1 deletion CHANGELOG.md
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Expand Up @@ -17,9 +17,10 @@ This project uses a [CalVer](https://calver.org/) versioning scheme with monthly
### Added
- `PointCloud` dataclass as the main data structure for point clouds in airo-mono
- Notebooks to get started with point clouds, checking performance and logging to rerun
- Functions to crop point clouds and filter points with a mask (e.g. low-confidence points))
- Functions to crop point clouds and filter points with a mask (e.g. low-confidence points)
- Functions to convert from our numpy-based dataclass to and from open3d point clouds
- `BoundingBox3DType`
- `Zed2i.ULTRA_DEPTH_MODE` to enable the ultra depth setting for the Zed2i cameras



Expand All @@ -32,6 +33,7 @@ This project uses a [CalVer](https://calver.org/) versioning scheme with monthly
- Removed camera imports in `airo_camera_toolkit.cameras`: see issue #110.
- Added `__init__.py` to `realsense` and `utils` in `airo_camera_toolkit.cameras`, fixing installs with pip and issue #113.
- Fixed bug that returned a transposed resolution in `MultiprocessRGBReceiver`.
- Using `Zed2i.PERFORMANCE_DEPTH_MODE` will now correctly use the performance mode instead of the quality mode.

### Removed
- `ColoredPointCloudType`
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5 changes: 3 additions & 2 deletions airo-camera-toolkit/airo_camera_toolkit/cameras/zed/zed2i.py
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Expand Up @@ -57,9 +57,10 @@ class Zed2i(StereoRGBDCamera):
# no depth mode, higher troughput of the RGB images as the GPU has to do less work
# can also turn depth off in the runtime params, which is recommended as it allows for switching at runtime.
NONE_DEPTH_MODE = sl.DEPTH_MODE.NONE
PERFORMANCE_DEPTH_MODE = sl.DEPTH_MODE.QUALITY
PERFORMANCE_DEPTH_MODE = sl.DEPTH_MODE.PERFORMANCE
QUALITY_DEPTH_MODE = sl.DEPTH_MODE.QUALITY
DEPTH_MODES = (NEURAL_DEPTH_MODE, NONE_DEPTH_MODE, PERFORMANCE_DEPTH_MODE, QUALITY_DEPTH_MODE)
ULTRA_DEPTH_MODE = sl.DEPTH_MODE.ULTRA
DEPTH_MODES = (NEURAL_DEPTH_MODE, NONE_DEPTH_MODE, PERFORMANCE_DEPTH_MODE, QUALITY_DEPTH_MODE, ULTRA_DEPTH_MODE)

# for info on image resolution, pixel sizes, fov..., see:
# https://support.stereolabs.com/hc/en-us/articles/360007395634-What-is-the-camera-focal-length-and-field-of-view-
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