Sensor formula

sensor_formula.md

Sensor formula / Stereo

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note :

• horizontal field of view (HFOV).
• 57.296° = 1 Radian

Sensor width :

$$2 \times (FocalLength \times tan(\frac{0.5 \times HFOV}{57.296}))$$

2*(FocalLength*TAN((0.5*HFOV)/57.296))

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HFOV :

$$(2\times arctan(\frac{SensorWidth}{2\times FocalLength})\times 57.296$$

(2*ATAN(SensorWidth/(2*FocalLength)))*57.296

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FocalLenght :

$$\frac{0.5\times SensorWidth} {tan\frac{0.5\times HFOV}{57.296}}$$

(0.5*SensorWidth)/TAN((0.5*HFOV)/57.296)

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Disparity Max :

$$\frac{interaxial \times focal \times widthFormat}{hAperture \times zeroParallax}$$

(interaxial * focal * widthFormat) / (hAperture * zeroParallax)

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Disparity :

$$Disparity Max - \frac{interaxial \times focal \times widthFormat}{hAperture \times color.r}$$

disparity_max - ((interaxial * focal * widthFormat)/(hAperture * color.r))

color.r : donner une valeur (red) par defaut (ici 7.1)