Different FOV between ZED SDK and ZED Explorer?

Software C++
1

Hello,

I was wondering if I could have some clarification regarding cropping/FOV.

I noticed that the image I get from the C++ ZED SDK and ZED Explorer is slightly different. For example, the ZED SDK image appears cropped compared to the ZED Explorer. Is this due to self-calibration when the camera gets opened? I disabled self-calibration through the ZED SDK and my image still looks cropped compared to ZED Explorer.

I tested using ZED 2 and ZED 2i. I see the cropping on both cameras.

2

Hi @dko
ZED Explorer shows the RAW stereo stream.
The left and right images are not rectified, so you see them at full FoV.

The ZED SDK to perform depth processing must rectify the images to remove lens distortions. The final result are images with a smaller FoV.

If you disable the self-calibration you are not obtaining the unrectified images, its purpose is different. Read here.

If you want the RAW image you must use retrieveImage with sl::VIEW::LEFT_UNRECTIFIED and sl::VIEW::RIGHT_UNRECTIFIED

3

Thank you very much.

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