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 |
| HD4K**** | 3840 | 2160 | 15 |
| 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, ZED X One
*** All the camera models
**** ZED X One 4K
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 (2.1 mm lenses) |
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 | --- | --- |
| Resolution |
ZED X One GS |
ZED X One GS (4 mm lenses) |
ZED X One 4K |
| HD4K**** | --- | --- | 1510 |
| HD1200** | 737 | 1274 | 1510 |
| HD1080*** | 737 | 1274 | 755 |
| SVGA** | 368 | 637 | --- |
* ZED, ZED Mini, ZED 2, ZED 2i
** ZED X, ZED X Mini, ZED X One
*** All the camera models
**** ZED X One 4K
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, ZED X One
*** 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 |
||||
| 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 |
|||
| 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 |
ZED X One GS (4 mm lenses) |
ZED X One 4K |
||||
| 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° | --- | --- |
* ZED, ZED Mini, ZED 2, ZED 2i
** ZED X, ZED X Mini
*** All the camera models
**** ZED X One 4K