What is the camera focal length and field of view?

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

getCameraInformation().camera_configuration.calibration_parameters.left_cam.

Check the API 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/

Image Resolution

Resolution Width Height Framerate
HD2K* 2208 1242 15
HD1200** 1920 1200 30, 60
HD1080*** 1920 1080 15*, 30***, 60**
HD720* 1280 720 15, 30, 60
SVGA** 960 600 60, 120
WVGA* 672 376 15, 30, 60, 100

* ZED, ZED Mini, ZED 2, ZED 2i

** ZED X, ZED X Mini

*** All the camera models

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.

Resolution ZED Mini ZED 2 / ZED 2i  ZED 2i
4 mm
ZED X / ZED X Mini ZED X / ZED X Mini
4 mm
HD2K* 1492 1066 1912 --- ---
HD1200** --- --- --- 737 1274
HD1080*** 1478 1066 1925 737 1274
HD720* 736 528 967 --- ---
SVGA** --- --- --- 368 637
WVGA* 367 267 480 --- ---

* ZED, ZED Mini, ZED 2, ZED 2i

** ZED X, ZED X Mini

*** All the camera models

Pixel Size

Resolution  Pixel size
HD2K* 0.002mm
HD1200** 0.003mm
HD1080*** 0.002mm* / 0.003mm**
HD720* 0.004mm
SVGA** 0.003
WVGA* 0.008mm

* ZED, ZED Mini, ZED 2, ZED 2i

** ZED X, ZED X Mini

*** All the camera models

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:

  ZED Mini ZED 2 / ZED 2i
(2.1 mm lenses)

ZED X / ZED X Mini
(2.2 mm lenses)

Resolution  V FoV H FoV V FoV H FoV V FOV H FoV
HD2K* 46° 73° 61° 92° --- ---
HD1200** --- --- --- --- 78° 105°
HD1080*** 40° 66° 54° 84° 72° 105°
HD720* 52° 82° 68° 101° --- ---
SVGA** --- --- --- --- 78° 105°
WVGA* 54° 85° 71° 103° --- ---

 

  ZED 2i
(4 mm lenses)

ZED X / ZED X Mini
(4 mm lenses)

Resolution V FoV H FoV V FOV H FoV
HD2K* 36° 60° --- ---
HD1200** --- --- 50° 74°
HD1080*** 31° 53° 45° 74°
HD720* 41° 67° --- ---
SVGA** --- --- 50° 74°
WVGA* 43° 70° --- ---

 

 

ZED X One GS
(2.1 mm lenses)

ZED X One GS
(4 mm lenses)

ZED X One 4K
(3 mm lenses)

Resolution  V FoV H FoV V FoV H FoV V FOV H FoV
HD2K* --- --- --- --- --- ---
HD1200** 78° 105° 50° 74° 71.5° 104°
HD1080*** 72° 105° 45° 74° 71.5° 104°
HD720* --- --- --- --- --- ---
SVGA** 78° 105° 50° 74° 71.5° 104°
WVGA* --- --- --- ---- --- ---

* ZED, ZED Mini, ZED 2, ZED 2i

** ZED X, ZED X Mini

*** All the camera models