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yes, i would start from there. Do this tutorial and check the output of the camera. http://www.ros.org/wiki/camera_calibration/Tutorials/MonocularCalibration if its ok go to the stereo calibration

yes, i would start from there. Do this tutorial and check the output of the camera. http://www.ros.org/wiki/camera_calibration/Tutorials/MonocularCalibration if its ok go to the stereo ~~calibration~~calibration.

Also, if i understood you are using a enclosure. It could be the culprit on the distortion

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