Regarding the initCalibration() function output using ZED2i

Hardware ZED2
1

using the initCalibration() function with my ZED2i (SN31073691) @1280x720 (HD) resolution
https://stereolabs.github.io/zed-open-capture/d2/d69/namespacesl__oc_1_1tools.html#a080f90de48a271e995bd4934fc9dc490

I get the following Camera Matrix
Camera Matrix L:
[1545.705003499748, 0, 84.47635650634766, 0;
0, 1545.705003499748, -366.4547080993652, 0;
0, 0, 1, 0]

Camera Matrix R:
[1545.705003499748, 0, 84.47635650634766, 185547.9748911673;
0, 1545.705003499748, -366.4547080993652, 0;
0, 0, 1, 0]

The Camera Matrix before running this function is
Camera Matrix L:
[534.2150268554688, 0, 636.8400268554688;
0, 534.2899780273438, 345.364013671875;
0, 0, 1]

Camera Matrix R:
[533.5800170898438, 0, 638.719970703125;
0, 533.6300048828125, 352.7330017089844;
0, 0, 1]

The resulting rectified image using the generated map data is zoomed in and off-center.
is this expected behavior?
I’m using OpenCV 4.6.0 Ubuntu 24.04.

2

Hi @mlmagpayo
Welcome to the StereoLabs community

No, this means that the intrinsic calibration parameters are wrong.

3

Hi @Myzhar

Thank you for your answer.
In other words, my only recourse to fix this issue is to perform calibration myself to correct the intrinsic calibration parameters?

4

You can manually add the factory calibration parameters by retrieving them from the calibration file, but you must use the correct parameters for the resolution that you are using.

5

By calibration file do you mean the file that is automatically downloaded from your servers depending on the serial number of the camera? I am already using that and using the correct resolution parameters and the results i get are as shown in my original post.

6

What resolution are you using and what is your original calibration file content?

7

im using 1280x720 resolution and you can just download the calibration file for SN31073691 from your website

8

For some reason, OpenCV is modifying the intrinsic parameters of the camera at this point of the code.

Did you pass "hd" as camera resolution to the initCalibration function?

9

yes. that’s why the camera matrix output before using this function corresponds with the HD parameters from the calibration file.