Each ZED and ZED Mini 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 using the ZED API with getCameraInformation().calibration_parameters.left_cam. Check the API documentation for more information.
Calibrations 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/
Notice: The following values are valid for both the ZED, the ZED 2 and the ZED Mini, only the baseline (distance between optics) changes. The ZED and ZED 2 have a 12cm baseline and the ZED Mini have a 6.3cm baseline.
Image Resolution
| Resolution | Width | Height |
| HD2K | 2208 | 1242 |
| HD1080 | 1920 | 1080 |
| HD720 | 1280 | 720 |
| WVGA | 672 | 376 |
Focal Length
The exact focal length can vary depending on the selected resolution and your own camera calibration.
| ZED and ZED Mini | ZED 2 | |
| Resolution | Focal length in pixels | Focal length in pixels |
| HD2K | 1400 | 1000 |
| HD1080 | 1400 | 1000 |
| HD720 | 700 | 500 |
| WVGA | 350 | 250 |
Pixel Size
| Resolution | Pixel size |
| HD2K | 0.002mm |
| HD1080 | 0.002mm |
| HD720 | 0.004mm |
| WVGA | 0.008mm |
Field of View
The field of view formula is the following:
fov = 2*arctan(pixelNumber/(2*focalLength)) * (180/pi)
You can use pixelNumber to switch between horizontal and vertical resolutions.
| ZED and ZED Mini | ZED 2 | |||
| Resolution | V FOV | H FOV | V FOV | H FOV |
| HD2K | 47° | 76° | 64° | 96° |
| HD1080 | 42° | 69° | 57° | 88° |
| HD720 | 54° | 85° | 72° | 104° |
| WVGA | 56° | 87° | 74° | 107° |
Focus
The focus distance is fixed. All objects at distances from 28cm out to infinity will be sharp.