ZED 常用资料汇总

Calibration file

Location: /usr/local/zed/settings/SN10027507.conf

I suggest the calibration file should not to be modified because "Each ZED and ZED Mini we ship is calibrated at the factory using special equipment to maximize the accuracy. "^[1]. We just use it. That's enough.

content:

[LEFT_CAM_2K]
fx = 1402.61
fy = 1402.61
cx = 1080.49
cy = 613.977
k1 = -0.175036
k2 = 0.0279947
p1 = 0.000351693
p2 = 0.000163584

[RIGHT_CAM_2K]
fx = 1402.24
fy = 1402.24
cx = 1103.14
cy = 620.507
k1 = -0.174098
k2 = 0.027474
p1 = 0.000267023
p2 = 0.000168333

[LEFT_CAM_FHD]
fx = 1402.61
fy = 1402.61
cx = 936.487
cy = 532.977
k1 = -0.175036
k2 = 0.0279947
p1 = 0.000351693
p2 = 0.000163584

[RIGHT_CAM_FHD]
fx = 1402.24
fy = 1402.24
cx = 959.139
cy = 539.507
k1 = -0.174098
k2 = 0.027474
p1 = 0.000267023
p2 = 0.000168333

[LEFT_CAM_HD]
fx = 701.307
fy = 701.307
cx = 626.744
cy = 354.989
k1 = -0.175036
k2 = 0.0279947
p1 = 0.000351693
p2 = 0.000163584

[RIGHT_CAM_HD]
fx = 701.122
fy = 701.122
cx = 638.069
cy = 358.254
k1 = -0.174098
k2 = 0.027474
p1 = 0.000267023
p2 = 0.000168333

[LEFT_CAM_VGA]
fx = 350.653
fy = 350.653
cx = 328.872
cy = 184.994
k1 = -0.175036
k2 = 0.0279947
p1 = 0.000351693
p2 = 0.000163584

[RIGHT_CAM_VGA]
fx = 350.561
fy = 350.561
cx = 334.535
cy = 186.627
k1 = -0.174098
k2 = 0.027474
p1 = 0.000267023
p2 = 0.000168333

[STEREO]
Baseline = 63.0086
CV_2K = -0.00239333
CV_FHD = -0.00239333
CV_HD = -0.00239333
CV_VGA = -0.00239333
RX_2K = 0.00471874
RX_FHD = 0.00471874
RX_HD = 0.00471874
RX_VGA = 0.00471874
RZ_2K = -0.000978046
RZ_FHD = -0.000978046
RZ_HD = -0.000978046
RZ_VGA = -0.000978046

References:

[1] What is the calibration file?