What is the baseline for the ZED 2i camera? Is it better to use the factory given calibration settings or calibrate the sensor manually?

The baseline of the ZED 2i is 120 mm (4.72"). You can find all the specifications of the camera in the ZED 2i datasheet and in the ZED 2i and ZED Mini specifications documentation page.

Factory calibration or manual calibration?

We recommend using the factory calibration. Every ZED camera is calibrated in our facilities with a very precise process, performed with robotic arms that place the camera in precise positions, allowing us to calculate the calibration parameters with the highest possible precision. The factory calibration is typically more accurate than a user calibration.

In addition, the ZED SDK runs a self-calibration process every time the camera is opened, which compensates for small deviations caused by mechanical stress, vibrations, or temperature changes.

A new calibration is normally required only if:

• the camera has received a strong shock;

• the camera is used inside an enclosure with glass in front of the lenses, which acts as an additional lens (for example, in underwater applications).

For more information, see How do I recalibrate my ZED stereo camera? and the Camera Calibration documentation.