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OK so it seems a division by 0 were hided somewhere :

I change my calcul with :

dx = float(cx - self.last_left_image_pos[0])
W =  abs(dx * self.Q[3][2]) + self.Q[3][3]
X = (cx+ self.Q[0][3])/(W*self.ratio)
Y = (cy+ self.Q[1][3])/(W*self.ratio)
Z =  self.Q[2][3]/(W*self.ratio)

with self.ratio = 105.32

Then I get some accurate results ...don't ask me about self.ratio, I think it is linked to the resolution because I don't need to change it even if my calibration parameters has changed, but I am still trying to figure it out