stereo calibration help

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hello,

i try to do stereo calibration but i get either black images or weird results (distoreted rotated images)

I use stereo_calibration.cpp from opencv 2.4.5

so i got a few questions

• why do I have different results with the same set of images ?
• is there a minimum distance between the two cameras?
• why calibration only use 1 cpu (I got 4 cpus, it could use at leas 2 of them)
• how could i debug/interpret the resulting matrix ?

please help me thanks