Point cloud status unstable switching between ok and Error When using ZED 2i

[Guo1ZY]

Preliminary Checks

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Description

Aiming at calculating the coordinate of an object, I use the zed 2i camera to get the depth information, however the coordinate of object is drift out. Thus, I use the SDK tools--"ZED_Depth_Viewer" to open the camera to show the point cloud. When I switch 1080p and 30hz frequency, the point cloud image shows two different types: one is steady and complete, but another one contains too many noises, and the point cloud is incomplete if I happen to open the "ZED_Depth_Viewer" by chance. It really confused me whether the point cloud is available when I use the APl to write my own code.

Steps to Reproduce

1.my devices and disposition: ubuntu 20.04 +Cuda 11.8 +opencv4.7+pcl1.10
2.download zed sdk 4.1 and open ZED_Depth_Viewer
3.the point cloud does not go well
...

Expected Result

the point cloud information of the camera is steady and complete

Actual Result

Point cloud status unstable switching between ok and Error When using ZED 2i

ZED Camera model

ZED2i

Environment

ubuntu20.04
16G RAM
GPU NVIDIA GEFFORCE RTX 4060
SDK version:4.1
ROS:noetic

Anything else?

No response

[Guo1ZY]

These are two types of point cloud image, which are both set in 1080p 30hz from the same zed2i camera.