# Stereo - Depth Range Calculation

How to know the depth range of the Stereo camera?

Camera Specifications

• Baseline : 6 cm.
• FOV : 120°(D)
• Focal Length: 2.8 mm
• Sensor Size: 1/3 inch
• Resolution: 640 x 480 (from each sensor)

Calibration procedure:

• Fisheye module of OpenCV3.1 to calibrate both the camera's individually.
• Proceeded by Stereo Calibration.
• Matching Algorithm Used: StereoBM

Observations:

• Depth Range - 30 cm to 100 cm.
• The RMS error for the individual camera calibration and stereo calibration is less than 0.5.
• The depth value in the range (30 cm - 100 cm) is pretty good, i.e i don't get much deviation in the depth.

Question:

Is this is the maximum range for the above specifications.

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depth range z is given by relation

z=f m b/(u2-u1) u2-u1 is disparity, f focal length and m pixel by unit length without sensor size you cannot find an answer to your question

in your case f 0.0028 m=sqrt(640^2+480^2)/(1/3*0.0254) b=0.06

d=sqrt(640^2+480^2)/(1/30.0254)0.060.0028.(1:100).^(-1)  more

I have updated the question with sensor size.

Sorry i forgot base (b ) in first formulation)

Hello,Can i use this formula: d=f*b/(u1-u2), b:focal length in pixels (from the camera matrix after calibration)?? and how can i use it to calculate the depth range? thanks in advance

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