Each StereoLabs camera has unique optical characteristics. The cameras are factory-calibrated and their associated calibration is automatically downloaded when launching a StereoLabs application for the first time (tool, sample, etc.).
You can retrieve the parameters of your camera by using the ZED API with:
- Stereo cameras (ZED, ZED Mini, ZED 2, ZED 2i, ZED X, ZED X Mini, ZED X Nano):
getCameraInformation().camera_configuration.calibration_parameters.left_cam - Monocular cameras (ZED X One family, using the
sl::CameraOneclass):getCameraInformation().camera_configuration.calibration_parameters
Check the API documentation and the Camera Calibration documentation for more information.
Calibration files are stored in the following folders and named after each camera serial number:
- On Windows: C:/ProgramData/Stereolabs/settings
- On Linux: /usr/local/zed/settings/
- On Windows (SDK ≤ 2.2.0): C:/Users/YOUR_USER_NAME/AppData/Roaming/Stereolabs/settings/
Camera models
Stereo cameras (USB 3): ZED, ZED Mini, ZED 2, ZED 2i Stereo cameras (GMSL2): ZED X, ZED X Mini, ZED X Nano Monocular cameras (GMSL2): ZED X One GS, ZED X One S, ZED X One 4K, ZED X One Core
You can find all the available models in the StereoLabs Store.
Image Resolution
| Resolution | Width | Height | Framerate | Camera models |
|---|---|---|---|---|
| HD4K | 3840 | 2160 | 15 | ZED X One 4K |
| HD2K | 2208 | 1242 | 15 | ZED, ZED Mini, ZED 2, ZED 2i |
| HD1200 | 1920 | 1200 | 15, 30, 60 | ZED X, ZED X Mini, ZED X Nano, ZED X One GS, ZED X One S, ZED X One 4K (crop) |
| HD1080 | 1920 | 1080 | 15, 30, 60 | All the camera models (15 fps only for ZED, ZED Mini, ZED 2, ZED 2i at HD2K sensor readout; 15/30/60 fps otherwise) |
| HD720 | 1280 | 720 | 15, 30, 60 | ZED, ZED Mini, ZED 2, ZED 2i |
| SVGA | 960 | 600 | 15, 30, 60, 120 | ZED X, ZED X Mini, ZED X Nano, ZED X One GS, ZED X One S, ZED X One 4K (binning) |
| WVGA | 672 | 376 | 15, 30, 60, 100 | ZED, ZED Mini, ZED 2, ZED 2i |
Focal Length in pixels
Note: The exact focal length can vary depending on the selected resolution and the camera calibration. We recommend using runtime information from the ZED SDK.
Stereo cameras, USB 3
| Resolution | ZED | ZED Mini | ZED 2 / ZED 2i (2.1 mm lenses) | ZED 2i (4 mm lenses) |
|---|---|---|---|---|
| HD2K | 1400 | 1492 | 1066 | 1912 |
| HD1080 | 1400 | 1478 | 1066 | 1925 |
| HD720 | 700 | 736 | 528 | 967 |
| WVGA | 350 | 367 | 267 | 480 |
Stereo cameras, GMSL2
| Resolution | ZED X / ZED X Mini (2.2 mm lenses) | ZED X / ZED X Mini (4 mm lenses) | ZED X Nano (2.8 mm lenses) |
|---|---|---|---|
| HD1200 | 737 | 1274 | 930 |
| HD1080 | 737 | 1274 | 930 |
| SVGA | 368 | 637 | 465 |
Monocular cameras, GMSL2
| Resolution | ZED X One GS / ZED X One S Wide (2.2 mm lenses) | ZED X One GS / ZED X One S Narrow (4 mm lenses) | ZED X One 4K Wide (3.1 mm lenses) |
|---|---|---|---|
| HD4K | --- | --- | 1510 |
| HD1200 | 737 | 1274 | 1510 |
| HD1080 | 737 | 1274 | 755 |
| SVGA | 368 | 637 | --- |
Note on the ZED X One S Fisheye: the Fisheye lens option (204° H x 137° V x 218° D) uses a fisheye projection model; the pinhole focal length and the rectilinear field of view formula below do not apply to this model. Use the calibration parameters provided at runtime by the ZED SDK.
Note on the ZED X One Core: the ZED X One Core is a barebone camera module sharing the sensor options of the ZED X One family; the focal length depends on the S-mount lens installed. Use the calibration parameters provided at runtime by the ZED SDK.
Pixel Size
| Resolution | Pixel size |
|---|---|
| HD4K | 0.002 mm |
| HD2K | 0.002 mm |
| HD1200 | 0.003 mm; 0.002 mm for the ZED X One 4K (crop mode) |
| HD1080 | 0.002 mm (ZED, ZED Mini, ZED 2, ZED 2i); 0.003 mm (ZED X family, ZED X One GS/S); 0.004 mm (ZED X One 4K, binning mode) |
| HD720 | 0.004 mm |
| SVGA | 0.006 mm (2x2 binning of the native 0.003 mm pixel) |
| WVGA | 0.008 mm |
Field of View
The field of view formula is the following:
fov = 2*arctan(pixelNumber/(2*focalLength)) * (180/pi) (*)
(*) You can find a detailed explanation of this formula on Wikipedia.
The following tables report the Field of View at different resolutions for the rectified images:
Stereo cameras, USB 3
| ZED | ZED Mini | ZED 2 / ZED 2i (2.1 mm) | ZED 2i (4 mm) | |||||
|---|---|---|---|---|---|---|---|---|
| Resolution | V FoV | H FoV | V FoV | H FoV | V FoV | H FoV | V FoV | H FoV |
| HD2K | 48° | 76° | 46° | 73° | 61° | 92° | 36° | 60° |
| HD1080 | 42° | 69° | 40° | 66° | 54° | 84° | 31° | 53° |
| HD720 | 54° | 85° | 52° | 82° | 68° | 101° | 41° | 67° |
| WVGA | 57° | 88° | 54° | 85° | 71° | 103° | 43° | 70° |
Stereo cameras, GMSL2
| ZED X / ZED X Mini (2.2 mm) | ZED X / ZED X Mini (4 mm) | ZED X Nano (2.8 mm) | ||||
|---|---|---|---|---|---|---|
| Resolution | V FoV | H FoV | V FoV | H FoV | V FoV | H FoV |
| HD1200 | 78° | 105° | 50° | 74° | 65° | 92° |
| HD1080 | 72° | 105° | 45° | 74° | 60° | 92° |
| SVGA | 78° | 105° | 50° | 74° | 65° | 92° |
Monocular cameras, GMSL2
| ZED X One GS / ZED X One S Wide (2.2 mm) | ZED X One GS / ZED X One S Narrow (4 mm) | ZED X One 4K Wide (3.1 mm) | ||||
|---|---|---|---|---|---|---|
| Resolution | V FoV | H FoV | V FoV | H FoV | V FoV | H FoV |
| HD4K | --- | --- | --- | --- | 71° | 104° |
| HD1200 | 78° | 105° | 50° | 74° | 43° | 65° |
| HD1080 | 72° | 105° | 45° | 74° | 71° | 104° |
| SVGA | 78° | 105° | 50° | 74° | --- | --- |
Note: the ZED X One S Fisheye model provides a 204° (H) x 137° (V) x 218° (D) field of view with a fisheye projection model; it is not listed in the tables above because the rectilinear formula does not apply.
The values reported in the tables are nominal; the actual values depend on the factory calibration of each unit and can be retrieved at runtime with the ZED SDK.