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i have the same problem and i tryed to use my personal camera app without calling the pictureCallback. I essentialy use the previewCallback and i save the arriving frame using Highgui.imwrite to store the jpeg picture. Using my camera app gave me no result and the rectified images are the same of njaa's ones. So the changing of the intrinsic parameters (if it is is the real problem) occurs continously during the preview and not only after the photo has been taken...