Hi! Sorry for my late reply, I’ve lost your comment in my notifications…

To get full-size image you have to set image resolution to the maximum of your sensor.

You can find supported resolutions here in Pi Camera docs: https://www.raspberrypi.org/documentation/raspbian/applications/camera.md

To say briefly, for the V1 camera and Waveshare you can use 2592x1944 (that is 5 MPix for each image), and for the V2 camera it is 3280x2464. For the stereoscopic image you can increase horizontal resolution twice, and you’ll get non-cropped full image (5184x1944 for V1 and 6560x2464 for V2).