hi @jakaskerl
i'm using OAK lite camera at the baseline of 18.25 cm and the resolution is 640 * 420 after reading the values the result of each camera is camera1 :- {
"batchName": "",
"batchTime": 0,
"boardConf": "",
"boardCustom": "",
"boardName": "OAK-1",
"boardOptions": 0,
"boardRev": "R3M1E2",
"cameraData": [
[
0,
{
"cameraType": 0,
"distortionCoeff": [
56.56939697265625,
-37.25424575805664,
-0.0017246701754629612,
0.0009759433451108634,
308.4970397949219,
56.76320266723633,
-44.21269989013672,
318.74041748046875,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"specTranslation": {
"x": -0.0,
"y": -0.0,
"z": -0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"height": 2160,
"intrinsicMatrix": [
[
2969.906005859375,
0.0,
1898.93505859375
],
[
0.0,
2969.906005859375,
1121.261962890625
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 48,
"specHfovDeg": 68.7938003540039,
"width": 3840
}
]
],
"deviceName": "",
"hardwareConf": "",
"housingExtrinsics": {
"rotationMatrix": [],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"imuExtrinsics": {
"rotationMatrix": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"miscellaneousData": [],
"productName": "",
"stereoEnableDistortionCorrection": false,
"stereoRectificationData": {
"leftCameraSocket": 255,
"rectifiedRotationLeft": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"rectifiedRotationRight": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"rightCameraSocket": 255
},
"stereoUseSpecTranslation": true,
"version": 6,
"verticalCameraSocket": -1
}
cam 2 :- {
"batchName": "",
"batchTime": 0,
"boardConf": "",
"boardCustom": "",
"boardName": "OAK-1",
"boardOptions": 0,
"boardRev": "R3M1E2",
"cameraData": [
[
0,
{
"cameraType": 0,
"distortionCoeff": [
43.58292770385742,
26.22852325439453,
0.002054103184491396,
-0.0005779389757663012,
203.456298828125,
43.69597625732422,
19.7349796295166,
211.587646484375,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"specTranslation": {
"x": -0.0,
"y": -0.0,
"z": -0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"height": 2160,
"intrinsicMatrix": [
[
3014.708251953125,
0.0,
1944.7913818359375
],
[
0.0,
3014.708251953125,
1094.84130859375
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 64,
"specHfovDeg": 68.7938003540039,
"width": 3840
}
]
],
"deviceName": "",
"hardwareConf": "",
"housingExtrinsics": {
"rotationMatrix": [],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"imuExtrinsics": {
"rotationMatrix": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"miscellaneousData": [],
"productName": "",
"stereoEnableDistortionCorrection": false,
"stereoRectificationData": {
"leftCameraSocket": 255,
"rectifiedRotationLeft": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"rectifiedRotationRight": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"rightCameraSocket": 255
},
"stereoUseSpecTranslation": true,
"version": 6,
"verticalCameraSocket": -1
}
this is the data i got what is my focal length from this data which will help me to calculate the depth i'm using this formuae Z = (focalength * baseline)/disparity
thanks,
shiv shankar
