Stereo Camera Calibration with Convergent Cameras

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Hi everybody

We have a stereo camera setup here where each camera is angled in towards other by 10 degrees (i.e. toe-in, convergent cameras)

 cam 1 /--- baseline ---\ cam 2  (with cameras looking up, towards the top)

I have tried to calibrate the stereo cameras with the camera_calibration package with the following command:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0720 right:=/stereo/right/image_raw left:=/stereo/left/image_raw right_camera:=/stereo/right left_camera:=/stereo/left

My problem now is that the distance estimates are only accurate at about 5m, the further we move the object away, the closer the camera claims it is and vice versa.

• Does the camera calibration node take a toe-in angle into account when computing the projection and rectification matrix or does it have to be specified manually?
• Also, does the camera calibration parser assume that the baseline is specified in the camera_info messages?

Your help would be greatly appreciated. Thanks, Daniel