2.1mm vs 4mm focal length


How can I figure out whether my camera’s (Zed 2i) focal length is 2.1 mm or 4 mm?

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Hi @hutchisonandrew
you can check at runtime the value of the hfov parameter of the camera calibration:

The values is ~55° for 4mm lenses and ~100° for 2.1mm lenses

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There’s an actual focal_length_metric attribute in CameraParameters that directly gives you the focal length, rather than checking hfov.