ZED camera point cloud inaccuracy: white wall

[takahiko-hasegawa-hdjp]

Preliminary Checks

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• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Hi there,

We have a similar issue with the ZED camera (but with ZED 2i camera). If there is an object in front of the camera (<1.6meters) the point cloud value becomes Infinity. We do understand that the accuracy of the depth/point cloud degrades as the object becomes further from the camera but did not expect it to be immeasurable/inaccurate when the object is close to the camera specifically less than about 1.6 meters.

We are using Ultra mode so should be accurate enough but not sure why this happens. The problem is that the issue occurs intermittently but when it does happen it's mostly in the beginning after the camera starts running (we are using ros2 so when the camera node start running). So we cant debug the issue very well.

Does the Zed camera starts with some sort of auto-calibration? do we need to wait for some time after the camera node finished initialising?

Please let us know what could be done to resolve this issue.

Thanks in advance!

Steps to Reproduce

1. It happens intermittently so not sure

...

Expected Result

Position of point clond to be accurate within <1.6m

Actual Result

infinity

ZED Camera model

ZED2i

Environment

custom ROS2 camera node using Zed (v4) sdk
Ultra mode
C++
Inital parameter is mostly set to default
docker 
humble

Anything else?

No response

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