Sorry, I just checked and I am actually using the trunk, not latest. The problem is that I'm getting large rotational values, and I'm only ever seeing a horizontal offset in T (top right value in projection matrix) as non-zero, even though the cameras are at slightly different heights. I can send the saved tar.gz file that contains the images used and the ost.txt created if it helps. Patrick Beeson wrote: > I checked out latest and had to do a small bit of changes to sync the > timestamps of the two cameras whenever frames have very close > timestamps. So they aren't EXACTLY synced, but VERY closely synced. I > can try to send you a screen shot of the output. Note, I am testing > this with a quite small checkerboard (your checkerboard, but with 26mm > squares). Maybe that's the problem? Maybe I'm sampling a space too > close to the cameras? > > Eric Perko wrote: >> Patrick, >> >> What version of camera_calibration are you using? Boxturtle? >> >> - Eric >> >> On Tue, Apr 6, 2010 at 4:31 PM, Patrick Beeson >> wrote: >>> I'm trying to calibrate two identical 1394 cameras that are sitting next >>> to each other. The stereo calibration from camera_calibration converges >>> to VERY bad R and T matrices, rotating the frames and >>> the warping the images drastically. I've tried several times, with >>> no luck. >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users