Aspect ratio of Field of View != 320/240

Aspect ratio of Field of View != 320/240

Since I don't understand how to get the projection interface working in UtilPipeline, I thought I'll use simple trigonometry calculations to figure out where each point of the pointcloud belongs.

This is where I'm stuck on a very simple issue.

The depth sensor produces an image which has a width of 320 and height of 240 => aspect ratio of 1.333.

However, the camera specs say that the Field of View is the following: 74° x 58° x 87°

Now, to get the the half-field-of-view horizontally and vertically, we calculate:

sin( 74 / 2 ) = 0.60
sin( 58 / 2 ) = 0.48

However 0.60 / 0.48 => aspect ratio of 1.25

Can you tell me how is it possible that the specs say aspect ratio is 1.25 while the generated image is 1.33?

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You can look at PerC SDK sample @C:\Program Files (x86)\Intel\PCSDK\sample\camera_uvmap\src\camera_uvmap.cpp to understand how to use the projection interface. The mapping isn’t linear. That’s why we have to use UVMap to map between them.