# Stereo camera calibration for voxl2

Source: https://forum.modalai.com/topic/1701/stereo-camera-calibration-for-voxl2
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-01-13 05:24:48 UTC by Tamas Pal 0
Replies: 1 · Views: 549

## Tamas Pal 0 · 2023-01-13 05:24:48 UTC

I am trying to calibrate rear stereo camera again in a custom frame, where the rear cameras are put little bit more behind where the rear cameras are usually mounted in the voxl2 case. I am able to calibrate the intrinsics properly. But for the extrinsics the reprojection error is too high everytime when I try to calibrate it in the customized frame. I tried it with different light conditions as well as using the ```--no-threshold``` and ```--no-targets``` commands also. The only thing that is cahnged now is the position of rear stereo cameras. How to fix it?

## Reply by Chad Sweet (ModalAI staff) · 2023-01-13 22:42:01 UTC

Are the sensors mounted rigidly on the same plane, facing exactly the same direction?

Can you make sure they are both well in focus?