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Hi ewillcox!

First you need to calibrate your cameras. I recommend you this tutorial. Try to get a rigid cardboard or a piece of wood to attach the calibration pattern. The stiffer the better. And check if your calibration score or reprojection error is as low as possible. Values below 0.5 pixels are desirable. After that, your camera_info distortion vector should be populated.

Then, follow this tutorial to choose good stereo parameters in stereo_image_proc.