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I'm trying to do stereo calibration with the asymmetric circles pattern, the images are properly rectified, however the reprojection error is around 10 and the triangulation measurement fails indeed for about 0.5 centimeters, any suggestions? All that changed in the original stereo_calib code was the line which detects the pattern, there is something else I should change? Thanks in advance.

I was unable (my fault) to use the triangulation method from opencv, instead I used this method http://www.morethantechnical.com/2012/01/04/simple-triangulation-with-opencv-from-harley-zisserman-w-code/ Note that P is a 3x3 identity matrix joined to a 3x1 zeros vector([1 0 0 0; 0 1 0 0; 0 0 1 0;] and P1 is the join of the Rotation matrix, and traslation betwen the cameras (R | t). The code need some minor adjusments in that time, I expect work for you.

That's it, what value of size use for the asymmetrical circles grid pattern? It's a size value necessary at all? Thanks in advance.