2. Camera calibration
Camera parameters such as focal length, field of view or stereo calibration can be retrieved for each camera and resolution
Focal length: fx,fy
Main points: cx,cy
Lens distortion: k1,k2,k3,p1,p2
Horizontal, vertical and diagonal fields of view
Stereo calibration: rotation and translation between left and right lenses
Camera parameters can be found in CalibrationParameters and retrieved through getCameraInformation().
calibration_params = zed.get_camera_information().camera_configuration.calibration_parameters
# Focal length of the left eye in pixels
focal_left_x = calibration_params.left_cam.fx
# First radial distortion coefficient
k1 = calibration_params.left_cam.disto[0]
# Translation between left and right eye on z-axis
tz = calibration_params.T.z
# Horizontal field of view of the left eye in degrees
h_fov = calibration_params.left_cam.h_fovIf self-calibration is enabled, calibration parameters can be re-estimated and refined by the ZED SDK on startup. The updated parameters are in CalibrationParameters.
The camera can be manually recalibrated using the ZED calibration tool, but manual calibration may degrade its calibration parameters.