Incorrect ZED2 disparity and depth

Hardware ZED2
1

I am using the ZED2 Explorer to capture stereo images (H.264 lossless png). When viewing the shift between left and right images (disparity) I see that distant objects (more than 20 m away) have negative shift/disparity compared to closer objects.
I also observe that the depth computed from the disparity is incorrect, even for closer objects (less than 5 m). Depth is computed using:
Depth = Baseline(120mm) * Focal length (pixels) / disparity (pixels)

Are these issues due to uncalibrated camera? Does the camera need to be calibrated?

2

Hello and thank you for reaching out to us,

The camera needs to be calibrated indeed, but we do factory calibrations before shipping them. You can make a manual calibration with our tool ZED_Calibration, or restore the factory calibration with ZED_Explorer.

Also, can you provide a SVO of what you describe ? And maybe tell me in what conditions it was taken (temperature, etc.)

Antoine