Thanks for the reply, i am working on computer vision app and I looked at the filtered data and it’s really not usable in tracking moving object. My object is moving in a 10 meter range but the values from filtered data jump between 2 and 999m. Any ways I got the two RGB images using synchronized data output and adding two separate videodataoutput. Any chance you have an example code to crop and scale the cvpixelbuffer from ultra wide to match that of wide-angle lens? thanks