Get your Calibration File
The ZED and the ZED mini are using stereo vision to estimate the depth. This technology requires to know precisely the position of the right optic in relation to the left one and their characteristics.
We are measuring this in the factory and exporting a calibration file that is automatically downloaded by the SDK or any application.
Calibrations files are stored here and named from the serial number of your camera:
- 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\
You can also download it manually by following the instructions here: calib.stereolabs.com
The ZED calibration files contain intrinsic parameters for both left/right sensors at each resolution. This corresponds to the following input:
[LEFT_CAM_HD] fx=700.819 fy=700.819 cx=665.465 cy=371.953 k1=-0.174318 k2=0.0261121
- fx and fy corresponds to the focal measured in pixels.
- cx and cy represent the coordinates of the optical center in pixels.
- k1 and k2 are distortion parameters.
These data are matching the pinhole camera model.
The stereo parameters, also called extrinsic parameters, are representing the relation between the left and right sensors. More precisely, the position of the right sensor from the left sensor referential. With the center of rotation being the right sensor itself.
[STEREO] Baseline=120 CV_2K=0.00958521 CV_FHD=0.00958521 CV_HD=0.00958521 CV_VGA=0.00958521 RX_2K=0.00497864 RX_FHD=0.00497864 RX_HD=0.00497864 RX_VGA=0.00497864 RZ_2K=-0.00185401 RZ_FHD=-0.00185401 RZ_HD=-0.00185401 RZ_VGA=-0.00185401
- Baseline is the distance between the optics in mm (120mm for the ZED, 63mm for the ZED Mini)
- CV_*** are the measures of the convergence of the optics. It could have been named RY_***.
- RX_*** and RZ_*** are the other rotation axis describing the transformation between the two sensors. Rotations are represented in the Rodrigues notation.