Details of the Camera Model StereoLabs Devices (Zed2i) and Rectification of Images

tutunarsl · November 25, 2025, 5:08pm

Hello Dear StereoLabs Team,

My name is Turcan, I am a senior PhD Candidate at Robotic Systems Lab, ETH Zurich. I am one of the leads in the project called GrandTour Dataset, where we have used one of your sensors (Zed2i Stereo USB camera) alongside others.

Given this context, as this was a dataset we have provided the “raw” images to the public as some users might want to rectify their images themselves or use the distorted images directly. Now the issue and the questions:

Despite my sincere efforts, I am unable to rectify a ZED2i provided raw left camera image to be an rectified image. I am using the camera-provided camera intrinsics parameters including the distortion parameters.
Conversely, if I look at the ZED-SDK rectified images they are just fine, infact, quite good. Implying to me that the camera is still well calibrated.
I have rectified other types of camera before hence, I would like to add that I believe I know what I am doing, yet, multiple people including me couldn’t rectify a raw image from the device.

Question & Request:

Is it possible for me to get more details on how StereoLabs rectify their images?
Was there any previous application where a user rectify the images themselves?
Is the Plumb Bob model, provided by the SDK / ROS drivers correct?
Is anywhere within StereoLabs software suite, there is an example how rectification can be done on your images? (E.g. with OpenCV or other tools)

The .svo2 files I am using has been collected using SDK v4.2 while I am using SDK v5.0.5 for deserializing the images from .svo2 file.

If helps, I can share one.

TLDR; ZED-SDK rectification works yet, manual raw to rectified image correction does not.

Camera Intrinsics as I them in ZED_Explorer app

Myzhar · November 26, 2025, 10:43am

Hi @tutunarsl
Welcome to the Stereolabs community.

This is part of years of R&D, and we cannot disclose details about our algorithms.

You can use standard OpenCV processing to perform rectification.
Our Open Capture driver contains a usable example to use our parameters with OpenCV:

github.com/stereolabs/zed-open-capture

examples/zed_oc_rectify_example.cpp

master

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Yes it is

See above.

This function is what you are searching for:

github.com/stereolabs/zed-open-capture

examples/include/calibration.hpp

master


      
          bool initCalibration(std::string calibration_file, cv::Size2i image_size, cv::Mat &map_left_x, cv::Mat &map_left_y,
                  cv::Mat &map_right_x, cv::Mat &map_right_y, cv::Mat &cameraMatrix_left, cv::Mat &cameraMatrix_right, double *baseline=nullptr) {
          
              if (!checkFile(calibration_file)) {
                  std::cout << "Calibration file missing." << std::endl;
                  return 0;
              }
          
              // Open camera configuration file
              ConfManager camerareader(calibration_file.c_str());
              if (!camerareader.isOpened())
                  return 0;
          
              std::string resolution_str;
              switch ((int) image_size.width) {
                  case 2208:
                      resolution_str = "2k";
                      break;
                  case 1920:
                      resolution_str = "fhd";

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