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We've been using BB2 cameras for a year or so, and we've recently published our own driver, which is a modification of camera1394 stereo driver. We use this cameras to do visual odometry and object recognition in ROS, and they've given us good results. Check the driver and the visual odometry libraries viso2 and fovis.

Regarding the calibration, since we use a watertight container for the cameras we do not use standard calibration. We use a stereo pipeline, just as William does, and we do our own callibration within ROS.