Setting up your Stereo Rig with two ZED X One cameras
Last updated: October 23, 2026
The monocular cameras of the ZED X One family (ZED X One GS, ZED X One S, ZED X One 4K, and ZED X One Core) allow the creation of configurable stereo rigs with custom baselines, the distance between the optical centers of the two cameras.
Lens options
Lens | Focal length | Aperture | Field of view (H x V x D) | Available on |
|---|---|---|---|---|
Wide | 2.2 mm | f/2.2 | 110° x 80° x 120° | ZED X One GS, ZED X One S, ZED X One Core |
Narrow | 4.6 mm | f/2.0 | 73° x 45° x 87° | ZED X One GS, ZED X One S, ZED X One Core |
Fisheye | 1.38 mm | f/2.0 | 204° x 137° x 218° | ZED X One S, ZED X One Core |
Wide (4K) | 3.1 mm | f/2.0 | 110° x 72° x 119° | ZED X One 4K |
The wide, narrow, and 4K lenses follow a pinhole (rectilinear) projection model. The fisheye lens follows a fisheye projection model (f-theta), with a field of view wider than 180°: to compute depth, the fisheye images are rectified to pinhole images with a smaller field of view. For more details, see What is the camera focal length and field of view?
How to calculate the baseline
The value of the baseline depends on the final requirements and on the optics of the two cameras.
In the following scheme, the baseline is identified by B, the minimum depth range is h, and α is the field of view of the cameras for the rectified images.
For a fixed minimum depth value h, you can calculate the required baseline B as:
B = 2 * h * tan(α/2)Vice versa, if you fix the baseline B, the corresponding minimum depth value h is:
h = B / (2 * tan(α/2))To obtain a minimum depth that allows a usable depth map, apply a factor of 6 to h. This guarantees that the fields of view of the two cameras have a large enough overlapping area:
h' = 6 * h ; B' = B / 6The maximum depth (in meters) can be calculated with the formula:
max_depth = (B / 2) * (F / sens_w) * res_Wwhere:
B is the baseline in meters;
F is the focal length of the lens in meters (2.2 mm for the wide lens and 4.6 mm for the narrow lens of the ZED X One GS, ZED X One S, and ZED X One Core; 3.1 mm for the ZED X One 4K);
sens_w is the width of the CMOS sensor in meters (5.8 mm for the global shutter sensor, 7.7 mm for the 4K sensor);
res_W is the image width in pixels (you can use 1280 as a good approximation).
For the fisheye lens, use α and the equivalent focal length of the rectified images instead of the nominal values: with a rectified horizontal field of view of 120°, α = 120° and F / sens_w = 1 / (2 * tan(60°)) ≈ 0.29.
How to choose the right sensor?
The global shutter sensor (ZED X One GS, ZED X One S, ZED X One Core) is best for fast-moving objects, or a fast-moving camera, and for applications that require accurate motion reproduction.
The rolling shutter 4K sensor (ZED X One 4K) is best for low-light environments and for high-resolution HDR images.
How to choose the lens?
The field of view of the lenses has a direct impact on the system performance, so choose it according to the requirements of your application:
Narrow lenses provide greater detail and are well suited for long-range detection.
Wide lenses are best for applications requiring broader coverage.
Fisheye lenses (ZED X One S and ZED X One Core) provide maximum field awareness, with a field of view of more than 180°, for short-range perception and wide-area monitoring. The large field of view comes with strong image distortion and lower angular resolution, which reduce the detail and the depth accuracy at long range compared to the wide and narrow lenses.
How to choose the baseline?
The baseline of the stereo system depends on the required depth perception. A larger baseline improves the depth resolution, but increases the minimum distance for accurate depth estimation. The following tables provide an estimate of the depth accuracy at different distances, depending on the baseline and the lens option.
How to read the tables:
plain values are in the recommended zone (depth error below 5% of the distance);
italic values are available, but the depth error is 5% or more of the distance;
"–" means that depth is not available for that combination of baseline and distance.
ZED X One GS, ZED X One S, and ZED X One Core with wide lens (2.2 mm)
Baseline \ Distance | 10cm | 30cm | 50cm | 75cm | 1m | 1.5m | 2m | 3m | 4m | 5m | 7m | 10m | 20m | 25m | 50m | 100m | 200m | 300m |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
3cm | <1mm | 1mm | 4mm | 8mm | 15mm | 34mm | 6cm | 14cm | 24cm | 38cm | 74cm | – | – | – | – | – | – | – |
7cm | – | 1mm | 2mm | 4mm | 6mm | 14mm | 3cm | 6cm | 10cm | 16cm | 32cm | 64cm | – | – | – | – | – | – |
15cm | – | – | 1mm | 2mm | 3mm | 7mm | 1cm | 3cm | 5cm | 8cm | 15cm | 30cm | 1.20m | 1.88m | – | – | – | – |
25cm | – | – | – | 1mm | 2mm | 4mm | 1cm | 2cm | 3cm | 5cm | 9cm | 18cm | 72cm | 1.13m | 4.51m | – | – | – |
50cm | – | – | – | – | – | 2mm | <1cm | 1cm | 1cm | 2cm | 4cm | 9cm | 36cm | 56cm | 2.25m | 9.02m | – | – |
75cm | – | – | – | – | – | – | <1cm | 1cm | 1cm | 2cm | 3cm | 6cm | 24cm | 38cm | 1.50m | 6.01m | – | – |
1m | – | – | – | – | – | – | – | <1cm | 1cm | 1cm | 2cm | 5cm | 18cm | 28cm | 1.13m | 4.50m | 18.04m | – |
1.5m | – | – | – | – | – | – | – | – | <1cm | 1cm | 1cm | 3cm | 12cm | 19cm | 75cm | 3.00m | 12.01m | 27.05m |
2m | – | – | – | – | – | – | – | – | – | 1cm | 1cm | 2cm | 9cm | 14cm | 56cm | 2.25m | 9.00m | 20.27m |
ZED X One GS, ZED X One S, and ZED X One Core with narrow lens (4.6 mm)
Baseline \ Distance | 10cm | 30cm | 50cm | 75cm | 1m | 1.5m | 2m | 3m | 4m | 5m | 7m | 10m | 20m | 25m | 50m | 100m | 200m | 300m |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
3cm | – | 1mm | 2mm | 5mm | 9mm | 20mm | 3cm | 8cm | 14cm | 22cm | 43cm | 87cm | – | – | – | – | – | – |
7cm | – | <1mm | 1mm | 2mm | 4mm | 8mm | 1cm | 3cm | 6cm | 9cm | 18cm | 37cm | 1.49m | 2.33m | – | – | – | – |
15cm | – | – | – | 1mm | 2mm | 4mm | 1cm | 2cm | 3cm | 4cm | 9cm | 17cm | 69cm | 1.09m | 4.35m | – | – | – |
25cm | – | – | – | – | 1mm | 2mm | <1cm | 1cm | 2cm | 3cm | 5cm | 10cm | 42cm | 65cm | 2.61m | 10.45m | – | – |
50cm | – | – | – | – | – | – | <1cm | <1cm | 1cm | 1cm | 3cm | 5cm | 21cm | 33cm | 1.30m | 5.21m | 20.90m | – |
75cm | – | – | – | – | – | – | – | <1cm | 1cm | 1cm | 2cm | 3cm | 14cm | 22cm | 87cm | 3.47m | 13.91m | 31.35m |
1m | – | – | – | – | – | – | – | – | <1cm | 1cm | 1cm | 3cm | 10cm | 16cm | 65cm | 2.61m | 10.43m | 23.48m |
1.5m | – | – | – | – | – | – | – | – | – | – | 1cm | 2cm | 7cm | 11cm | 43cm | 1.74m | 6.95m | 15.64m |
2m | – | – | – | – | – | – | – | – | – | – | – | 1cm | 5cm | 8cm | 33cm | 1.30m | 5.21m | 11.73m |
ZED X One S and ZED X One Core with fisheye lens (1.38 mm), rectified to a 120° horizontal field of view
Baseline \ Distance | 10cm | 30cm | 50cm | 75cm | 1m | 1.5m | 2m | 3m | 4m | 5m | 7m | 10m | 20m | 25m | 50m | 100m | 200m | 300m |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
3cm | <1mm | 2mm | 5mm | 11mm | 20mm | 45mm | 8cm | 18cm | 32cm | 50cm | – | – | – | – | – | – | – | – |
7cm | – | 1mm | 2mm | 5mm | 9mm | 19mm | 3cm | 8cm | 14cm | 21cm | 42cm | 86cm | – | – | – | – | – | – |
15cm | – | <1mm | 1mm | 2mm | 4mm | 9mm | 2cm | 4cm | 6cm | 10cm | 20cm | 40cm | 1.60m | 2.50m | – | – | – | – |
25cm | – | – | 1mm | 1mm | 2mm | 5mm | 1cm | 2cm | 4cm | 6cm | 12cm | 24cm | 96cm | 1.50m | – | – | – | – |
50cm | – | – | – | – | 1mm | 3mm | <1cm | 1cm | 2cm | 3cm | 6cm | 12cm | 48cm | 75cm | 3.00m | – | – | – |
75cm | – | – | – | – | – | 2mm | <1cm | 1cm | 1cm | 2cm | 4cm | 8cm | 32cm | 50cm | 2.00m | 7.99m | – | – |
1m | – | – | – | – | – | – | <1cm | 1cm | 1cm | 1cm | 3cm | 6cm | 24cm | 37cm | 1.50m | 5.99m | – | – |
1.5m | – | – | – | – | – | – | – | <1cm | 1cm | 1cm | 2cm | 4cm | 16cm | 25cm | 1.00m | 3.99m | 15.97m | – |
2m | – | – | – | – | – | – | – | – | <1cm | 1cm | 1cm | 3cm | 12cm | 19cm | 75cm | 3.00m | 11.98m | 26.96m |
The fisheye values are a theoretical estimate for images rectified to a 120° horizontal field of view; a wider rectified field of view reduces the minimum depth, but also the depth accuracy and the maximum range.
ZED X One 4K with wide lens (3.1 mm)
Baseline \ Distance | 10cm | 30cm | 50cm | 75cm | 1m | 1.5m | 2m | 3m | 4m | 5m | 7m | 10m | 20m | 25m | 50m | 100m | 200m | 300m |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
3cm | <1mm | 1mm | 4mm | 8mm | 14mm | 32mm | 6cm | 13cm | 23cm | 36cm | 70cm | – | – | – | – | – | – | – |
7cm | – | 1mm | 2mm | 3mm | 6mm | 14mm | 2cm | 5cm | 10cm | 15cm | 30cm | 61cm | – | – | – | – | – | – |
15cm | – | – | 1mm | 2mm | 3mm | 6mm | 1cm | 3cm | 5cm | 7cm | 14cm | 28cm | 1.14m | 1.78m | – | – | – | – |
25cm | – | – | – | 1mm | 2mm | 4mm | 1cm | 2cm | 3cm | 4cm | 8cm | 17cm | 68cm | 1.07m | 4.28m | – | – | – |
50cm | – | – | – | – | – | 2mm | <1cm | 1cm | 1cm | 2cm | 4cm | 9cm | 34cm | 53cm | 2.14m | 8.55m | – | – |
75cm | – | – | – | – | – | – | <1cm | 1cm | 1cm | 1cm | 3cm | 6cm | 23cm | 36cm | 1.42m | 5.70m | 22.84m | – |
1m | – | – | – | – | – | – | – | <1cm | 1cm | 1cm | 2cm | 4cm | 17cm | 27cm | 1.07m | 4.27m | 17.11m | 38.58m |
1.5m | – | – | – | – | – | – | – | – | <1cm | 1cm | 1cm | 3cm | 11cm | 18cm | 71cm | 2.85m | 11.39m | 25.66m |
2m | – | – | – | – | – | – | – | – | – | 1cm | 1cm | 2cm | 9cm | 13cm | 53cm | 2.13m | 8.54m | 19.23m |
Accessories
In the StereoLabs store, you can find the Dual Camera Mount for ZED X One, an aluminum bar to create precise stereo rigs with two ZED X One GS or ZED X One 4K cameras, with a customizable baseline from 52 mm to 222 mm. For the ZED X One S, see the Camera Mount for ZED X One S.
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Calibration
A custom stereo rig must be calibrated before it can be used with the ZED SDK. See the Dual Camera Stereo Vision documentation for the ZED X One GS, S, and 4K, and the ZED X One Core Dual Camera Stereo Vision documentation for the ZED X One Core.