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?