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Sensor size of Zed 2i stereo camera

Roughly, yes. They advertise the sensor as being "1/3" which means its diagonal is about 2/3 that, so 2/9" or 5.6mm (from your data is 6.17).
xenoid's user avatar
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Estimating GSD and image footprint : methods based on angle of view or sensor size and image size give different results

There are several approaches. I think this one is best. A ray trace of the light rays after traversing the lens, traces out a triangle. Actually, we trace out two triangles, one for the length (5.6mm) ...
Alan Marcus's user avatar
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