{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-support/issues/163","labels_url":"https://api.github.com/repos/robotology/icub-support/issues/163/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-support/issues/163/comments","events_url":"https://api.github.com/repos/robotology/icub-support/issues/163/events","html_url":"https://github.com/robotology/icub-support/issues/163","id":127454684,"number":163,"title":"SFM & Eye fine-tuning","user":{"login":"jypuigbo","id":3121184,"avatar_url":"https://avatars.githubusercontent.com/u/3121184?v=3","gravatar_id":"","url":"https://api.github.com/users/jypuigbo","html_url":"https://github.com/jypuigbo","followers_url":"https://api.github.com/users/jypuigbo/followers","following_url":"https://api.github.com/users/jypuigbo/following{/other_user}","gists_url":"https://api.github.com/users/jypuigbo/gists{/gist_id}","starred_url":"https://api.github.com/users/jypuigbo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jypuigbo/subscriptions","organizations_url":"https://api.github.com/users/jypuigbo/orgs","repos_url":"https://api.github.com/users/jypuigbo/repos","events_url":"https://api.github.com/users/jypuigbo/events{/privacy}","received_events_url":"https://api.github.com/users/jypuigbo/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/robotology/icub-support/labels/iCubBarcelona01","name":"iCubBarcelona01","color":"d4c5f9"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2016-01-19T14:13:21Z","updated_at":"2016-01-22T16:27:31Z","closed_at":null,"body":"Hi, \r\n\r\nI'm trying to calibrate properly SFM but it almost never converges. Trying to see how that was happening, we realized that right camera is slightly looking upwards and to the right. This is specially noticeable when watching the two cameras' output, where one is tilted and with a vertical offset (where I understand the normal would be just horizontal offset for the eyes' separation). \r\n\r\nIs there any way to correct these offsets through calibration? Is there any way to correct this by hand?\r\n\r\nThanks, \r\n\r\nJordi"},"comment":{"url":"https://api.github.com/repos/robotology/icub-support/issues/comments/173968496","html_url":"https://github.com/robotology/icub-support/issues/163#issuecomment-173968496","issue_url":"https://api.github.com/repos/robotology/icub-support/issues/163","id":173968496,"user":{"login":"jypuigbo","id":3121184,"avatar_url":"https://avatars.githubusercontent.com/u/3121184?v=3","gravatar_id":"","url":"https://api.github.com/users/jypuigbo","html_url":"https://github.com/jypuigbo","followers_url":"https://api.github.com/users/jypuigbo/followers","following_url":"https://api.github.com/users/jypuigbo/following{/other_user}","gists_url":"https://api.github.com/users/jypuigbo/gists{/gist_id}","starred_url":"https://api.github.com/users/jypuigbo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jypuigbo/subscriptions","organizations_url":"https://api.github.com/users/jypuigbo/orgs","repos_url":"https://api.github.com/users/jypuigbo/repos","events_url":"https://api.github.com/users/jypuigbo/events{/privacy}","received_events_url":"https://api.github.com/users/jypuigbo/received_events","type":"User","site_admin":false},"created_at":"2016-01-22T16:27:31Z","updated_at":"2016-01-22T16:27:31Z","body":"We specifically tried the [fine calibration of the head](http://wiki.icub.org/wiki/HeadFineCalibration) (but this can't solve the problem as it can't move one eye independent from the other) and the [stereo calibration of the eyes](http://wiki.icub.org/wiki/Stereo_calibration) which never gives a reasonable error. \r\n\r\nI attach a photo to show the problem with the eyes: \r\n![icub_eyes](https://cloud.githubusercontent.com/assets/3121184/12516319/241bc16a-c12d-11e5-9edf-b8bab39e18b2.jpg)\r\n"}}